CN110278729B - Full-automatic transplanting combined operation machine - Google Patents
Full-automatic transplanting combined operation machine Download PDFInfo
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- CN110278729B CN110278729B CN201910510074.2A CN201910510074A CN110278729B CN 110278729 B CN110278729 B CN 110278729B CN 201910510074 A CN201910510074 A CN 201910510074A CN 110278729 B CN110278729 B CN 110278729B
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- 239000002689 soil Substances 0.000 claims abstract description 194
- 238000003971 tillage Methods 0.000 claims abstract description 58
- 238000004140 cleaning Methods 0.000 claims abstract description 24
- 238000002360 preparation method Methods 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims description 79
- 239000000725 suspension Substances 0.000 claims description 50
- 230000005540 biological transmission Effects 0.000 claims description 43
- 238000005491 wire drawing Methods 0.000 claims description 28
- 238000007790 scraping Methods 0.000 claims description 25
- 230000009471 action Effects 0.000 claims description 17
- 238000000034 method Methods 0.000 claims description 17
- 238000003825 pressing Methods 0.000 claims description 15
- 230000000670 limiting effect Effects 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 14
- 239000007788 liquid Substances 0.000 claims description 13
- 230000006698 induction Effects 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000000903 blocking effect Effects 0.000 claims description 3
- 230000035945 sensitivity Effects 0.000 claims description 3
- 238000011144 upstream manufacturing Methods 0.000 claims description 3
- 238000005520 cutting process Methods 0.000 abstract description 7
- 239000004927 clay Substances 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 2
- 239000003921 oil Substances 0.000 description 131
- 238000010586 diagram Methods 0.000 description 10
- 239000010410 layer Substances 0.000 description 9
- 230000007704 transition Effects 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 241000209094 Oryza Species 0.000 description 5
- 235000007164 Oryza sativa Nutrition 0.000 description 5
- 238000010276 construction Methods 0.000 description 5
- 230000036961 partial effect Effects 0.000 description 5
- 235000009566 rice Nutrition 0.000 description 5
- 238000007493 shaping process Methods 0.000 description 4
- 230000033228 biological regulation Effects 0.000 description 3
- 230000007935 neutral effect Effects 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 229910000746 Structural steel Inorganic materials 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000002829 reductive effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000001629 suppression Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
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- 238000007689 inspection Methods 0.000 description 1
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- 230000001105 regulatory effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000002688 soil aggregate Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000002344 surface layer Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
- A01B49/06—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising
- A01B49/065—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising the soil-working tools being actively driven
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B29/00—Rollers
- A01B29/04—Rollers with non-smooth surface formed of rotatably-mounted rings or discs or with projections or ribs on the roller body; Land packers
- A01B29/045—Rollers with non-smooth surface formed of rotatably-mounted rings or discs or with projections or ribs on the roller body; Land packers the soil-pressing body being a drum
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/02—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel
- A01B33/021—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel with rigid tools
- A01B33/024—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel with rigid tools with disk-like tools
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C19/00—Arrangements for driving working parts of fertilisers or seeders
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/062—Devices for making drills or furrows
- A01C5/064—Devices for making drills or furrows with rotating tools
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/066—Devices for covering drills or furrows
- A01C5/068—Furrow packing devices, e.g. press wheels
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transplanting Machines (AREA)
- Soil Working Implements (AREA)
Abstract
The invention provides a full-automatic transplanting combined operation machine, which comprises traction equipment, operation equipment and a control system, wherein the operation equipment is arranged on a main body frame and is pulled behind the traction equipment, and is characterized in that: the working equipment comprises a rotary tillage ditching system, a micro soil preparation narrow ditch digging system, a planting system and a soil covering compacting system which are sequentially arranged from front to back, wherein the planting system comprises more than one planting unit. The combined working machine can orderly rotary tillage stubble cleaning, furrow surface flattening, furrow opening, narrow slit cutting, transplanting, earthing and compacting of the uncut land at one time to form soil conditions required by blanket Miao Tigao transplanting operation of crops such as rape, the working parts of the tillage are not easy to clay, the transplanting quality can be ensured under the condition of high-speed transplanting, the structure configuration is reasonable, the production, the manufacture, the management and the maintenance are easy, and the combined working machine is suitable for popularization and use.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a full-automatic transplanting combined machine.
Background
With the development of seedling raising technology, transplanting technology has been widely used at home and abroad. Transplanting machines are of various kinds, and can be generally classified into: the manual transplanting machine, the semi-automatic transplanting machine and the full-automatic transplanting machine are classified according to the structural characteristics of the transplanting device, and the transplanting device comprises a jaw type transplanting machine, a chain type transplanting machine, a seedling guiding pipe type transplanting machine, a flexible disc type transplanting machine, a suspension cup type transplanting machine and the like. The types of transplants are different, and the crops suitable for planting are different.
Rape is particularly sensitive to moisture, and is easy to wither and die in drought weather, and root rot and seedling death often occur in rainy days, so ditching and shaping work is needed before mechanized transplanting. As in patent document CN106538114a, a multi-axis shallow tillage ditching method for rape transplanting is provided, which combines stubble cleaning, shallow tillage and rotary tillage ditching device, and one-time operation realizes ditching, soil throwing, shallow tillage soil breaking and soil leveling finishing, so that shallow tillage soil aggregates are more finely broken and are prepared for transplanting, but on one hand, the design is not suitable for large-batch multi-lane transplanting operation, and on the other hand, there is a great room for improvement in soil finishing and shaping. In another patent application document of publication No. CN109168494A, the planting density of rice is similar to that of rape, a rotary transplanter adopted by mechanical rice transplanting is used for high-speed transplanting, the speed is high, but rice transplanting is realized by inserting rice seedlings into soft mud, rape is planted in soil blocks with solid textures, the stalks are easily broken by adopting a transplanting method to plant the rape, the seedling is damaged, the vertical degree of the seedling is easily reduced under the influence of the involvement effect in the high-speed transplanting process, and the transplanting quality is influenced, so that the circular rape pot seedling transplanting device is designed to be suitable for dry land transplanting of the rape, but the planting efficiency is still incomparable with the planting speed of the mechanical rice transplanting machine.
Meanwhile, most of the existing dry land transplanting machine planting mechanisms at home and abroad have complex actions from seedling taking to seedling throwing, the multi-mechanism handover is completed, the seedlings cannot be controlled in the whole process, and the seedlings mainly fall down to throw the seedlings by virtue of the dead weight of the seedlings, so that the planting frequency is low.
Disclosure of Invention
The invention aims to improve the existing transplanting machine on the basis of the prior art, and provides a novel full-automatic transplanting combined operation machine which comprehensively treats soil and is suitable for transplanting rape or similar crops in high-speed dry lands.
The technical scheme of the invention is as follows:
the utility model provides a full-automatic joint operation machine of transplanting, includes haulage equipment, operation equipment and control system, and operation equipment installs in main part frame, pulls at haulage equipment's rear, its characterized in that:
the working equipment comprises a rotary tillage ditching system, a micro soil preparation narrow ditch digging system, a planting system and a soil covering compacting system which are sequentially arranged from front to back, wherein the planting system comprises more than one planting unit;
the rotary tillage ditching system is provided with a rotary tillage cutter shaft, the middle part of the rotary tillage cutter shaft is provided with a middle ditching cutter head for ditching furrows, and rotary tillage cutter groups are arranged on two sides of the rotary tillage cutter shaft;
the micro soil preparation narrow ditch opening system comprises a soil crushing roller, a soil scraping device of the soil crushing roller and a soil flattening kerf roller;
The soil crushing roller comprises a soil crushing roller shaft, and a left roller body and a right roller body which are arranged on the soil crushing roller shaft;
the two ends of the soil crushing roller shaft are connected with a driving device through a transmission mechanism, and are driven to rotate by the driving device;
the right roller body is provided with a plurality of unit sections with spiral blades on the surfaces along the axis direction, adjacent unit sections and the outermost unit sections are separated from the end part of the right roller body through annular grooves, the cross section of each annular groove in the radial direction of the right roller body is trapezoid, and each annular groove is wide outside and narrow inside;
the left roller body and the right roller body are symmetrical in structure;
the soil scraping device of the soil crushing roller comprises a scraping plate, wherein the scraping plate is parallel to the soil crushing roller shaft and is arranged at a position close to the spiral blade and used for removing the soil adhered on the spiral blade;
the soil leveling slitting roller comprises a soil leveling slitting roller shaft, a plurality of circular cutterheads and a soil pressing roller body, wherein the circular cutterheads and the soil pressing roller body are arranged on the soil leveling slitting roller shaft;
the circular cutterhead and the soil pressing roller bodies are alternately arranged on the soil leveling kerf roller shafts, and a circular cutterhead is arranged between every two adjacent soil pressing roller bodies;
the circular cutterhead and the annular groove on the front soil crushing roller are in one-to-one correspondence and are aligned front and back; the positions of the planting units for carrying the seedlings are in one-to-one correspondence with the circular cutterhead, and are aligned front and back.
In addition to the above, a further improved or preferred embodiment further includes:
further, the full-automatic transplanting combined machine is provided with a hydraulic driving system, a land wheel speed measuring system and a ground profiling system. Each planting unit is provided with a lifting oil cylinder which is independently controlled to lift, the planting units are driven by a hydraulic motor and provided with a first rotation speed sensor for detecting the rotation speed of the hydraulic motor, the signal output end of the first rotation speed sensor is connected with a control system, the hydraulic motor is connected with a hydraulic driving system, and the hydraulic driving system adjusts the rotation speed of the hydraulic motor and controls the starting and stopping of the hydraulic motor according to instructions sent by the control system. The ground wheel speed measuring system is provided with a profiling ground wheel mechanism, the profiling ground wheel mechanism is provided with a ground wheel in contact with the ground and a second rotating speed sensor for detecting the rotating speed of the ground wheel, and the signal output end of the second rotating speed sensor is connected with the control system. The control system controls the rotating speed of the hydraulic motor according to the signals acquired by the first rotating speed sensor and the second rotating speed sensor, so that the running speed of the combined working machine is matched with the planting speed of the planting unit. The ground profiling system is connected with the planting units, acquires the change of the terrain in the running process of the combined working machine, generates coupled control behaviors, acts on the lifting oil cylinder, and realizes the adjustment of the height of the planting units through the lifting oil cylinder.
Further, a valve group is arranged on a connecting pipeline of the lifting oil cylinder and the hydraulic driving system, and the valve group is fixed on the third mounting bracket.
The ground profiling system comprises a profiling mechanism and a transmission mechanism:
the profiling mechanism comprises an induction wheel, a movable bracket and a second fixed bracket:
the induction wheel is in a roller shape, is transversely arranged and is contacted with the ground when in work, and two ends of the induction wheel are arranged at the bottom of the movable bracket through a first rotating shaft;
the movable support is obliquely arranged in a way that the upper part faces forward and the lower part faces backward, and the middle part of the movable support is hinged with the bottom of the second fixed support through a second rotating shaft;
the second fixed bracket is positioned at the rear of the upper part of the movable bracket, an included angle is formed between the second fixed bracket and the upper part of the movable bracket, the top end of the second fixed bracket is fixed on the main beam of the planting unit, and a fixed lug is arranged on the second fixed bracket;
in the profiling mechanism, the first rotating shaft is parallel to the second rotating shaft, and the front direction refers to the advancing direction of the combined operation machine.
The transmission mechanism comprises a stay wire, a movable lug and a pull lug:
the valve bank is provided with a shell, a valve core and a push rod, the valve bank controls the operation of the lifting oil cylinder through the action of the valve core, one end of the push rod is connected with the valve core in the shell, the other end of the push rod extends out of the shell, and a first reset spring is arranged on the part of the push rod extending out of the shell;
The pull lug is arranged on one side of the valve group push rod, which extends out, and is hinged with the third mounting bracket through a third rotating shaft, and the third rotating shaft is vertical to the push rod; one end of the pull lug is connected with a third mounting bracket through a second reset spring, the other end of the pull lug is connected with a movable bracket through a pull wire to form a lever structure taking a third rotating shaft as a fulcrum, the second reset spring is parallel to the push rod, a circular arc-shaped protruding contact is arranged between the connecting point of the pull lug and the pull wire and the third rotating shaft, and the protruding contact is arranged at a position aligned with the end part of the push rod;
the wire drawing comprises a sleeve and a wire drawing arranged in the sleeve, wherein the length of the wire drawing is longer than that of the sleeve and can move in the sleeve; one end of the sleeve is fixedly connected with the movable lug, and the other end of the sleeve is fixedly connected with the fixed lug; one end of the wire drawing passes through the movable lug and then is connected with the wire drawing lug, the other end of the wire drawing passes through the fixed lug and then is connected with the upper part of the movable bracket, and through holes for the wire drawing to pass through are formed in the fixed lug and the movable lug;
when the ground is raised, the sensing wheel is lifted upwards, the movable support rotates, the pull lugs are linked through wire drawing, the first reset spring is compressed, the second reset spring is stretched, the pull lugs squeeze the push rod of the valve bank through raised contacts, the valve core is driven to move, and an oil way for driving the lifting oil cylinder to execute lifting action is conducted; after the sensing wheel passes over the bulge, the valve core is reset under the action of the first reset spring, and an oil way for driving the lifting oil cylinder to execute lifting action is closed; the pull lugs are reset under the action of the second reset spring.
Further, the movable lugs are arranged on the third mounting bracket through waist-shaped long holes, and the relaxation state of the wire drawing is changed by adjusting the fixed positions of the movable lugs (908) in the waist-shaped long holes so as to adjust the induction sensitivity of the control mechanism.
Further, the other end of wire drawing passes through buffer spring and movable support connection, and the upper portion of movable support is equipped with a plurality of locating holes that are in different high positions, the locating hole uses with adjustable pole cooperation, and buffer spring's one end articulates on the adjustable pole is through installing adjustable pole in the locating hole of different high positions, adjusts the profile modeling height of planting the unit.
Furthermore, the lifting oil cylinder is a single-acting hydraulic cylinder, one side of the rod cavity of the lifting oil cylinder is provided with an oil conveying port, and the rod cavity is filled with oil, so that the piston rod moves to drive the transplanting unit to ascend. The valve group is a five-position four-way reversing valve, and is provided with A, B, P, T four oil ports and five valve positions, wherein the five valve positions are respectively 1 position, 2 position, middle position, 3 position and 4 position, when the valve core moves to 1 position, the valve core A is communicated with the P oil port, and the valve core B is communicated with the T oil port; when the valve core moves to the 2-position, the oil port A is communicated with the oil port P, and the oil port B is communicated with the oil port T; when the valve core moves to the middle position, the oil port A and the oil port B are blocked, and the oil port P is communicated with the oil port T; when the valve core moves to the 3 position, the oil port A is communicated with the oil port B, and the oil port P is communicated with the oil port T; when the valve core moves to 4 positions, the oil ports A and B are communicated, and the oil ports P and T are communicated. The hydraulic driving system comprises an oil tank, an overflow valve and an unloading valve, wherein a P oil port of the valve group is connected with the oil tank through a first oil conveying pipeline, and an oil pump is arranged in the first oil conveying pipeline; the oil port A is connected with an oil delivery port of a rod cavity of the lifting oil cylinder through a second oil delivery pipeline; the oil port B is connected with the oil tank through a first oil return pipeline; the T oil port is connected to the first oil return pipeline through the second oil return pipeline, and the connection point of the T oil port is set as S; the overflow valve and the unloading valve are integrated into a loop of the hydraulic drive system through a first branch pipeline, the first branch pipeline is arranged between a connecting point S and a second oil return pipeline port, the connecting points of two ends of the first branch pipeline and the first oil return pipeline are respectively M and N, the connecting point M is arranged on the upstream of the connecting point N in the first oil return pipeline, the first branch pipeline and the first oil delivery pipeline are provided with an intersecting point O, the overflow valve is arranged in a pipeline between the connecting point M and the intersecting point O, and the unloading valve is arranged in a pipeline between the intersecting point O and a connecting point N on the other side of the unloading valve; the input end of the unloading valve is connected with a second oil pipeline through a second branch pipeline.
Further, the full-automatic transplanting combined operation machine is characterized by being provided with an electric cylinder and a lifting control handle. The electric cylinder is arranged in front of the valve bank, an output shaft of the electric cylinder is parallel to a push rod of the valve bank, the end part of the output shaft of the electric cylinder is positioned beside the pull lug and is also aligned with the front end surface of the push rod, and the electric cylinder acts to push the push rod of the valve bank to drive the valve core to switch the valve position; the signal input end of the electric cylinder is connected with the control system, the signal input end of the control system is connected with the lifting control handle, the stroke of the output shaft of the electric cylinder is controlled by operating the lifting control handle, and the valve core position of the valve group is switched.
The profiling land wheel mechanism comprises an adjusting rod, a fixing plate, a suspension arm and a land wheel. The front end and the rear end of the suspension arm are respectively provided with a transverse shaft sleeve, the front end shaft sleeve is used for installing the fixed shaft, and the rear end shaft sleeve is used for installing the land wheel shaft. One end of the inner side of the fixed shaft extends out of the shaft sleeve and is fixed on the main body frame, and the suspension arm is hinged with the main body frame through the fixed shaft, so that the suspension arm can swing up and down by taking the fixed shaft as the center. The land wheel is located the outside of suspension arm, the land wheel axle sets up in land wheel center department, and the inboard one end of land wheel axle inserts in the rear end hub, outside one end and land wheel fixed connection, the land wheel is driven the land wheel axle synchronous revolution in the subaerial rolling in-process, and the surface of land wheel is equipped with anti-skidding mechanism. And one end of the inner side of the rear end shaft sleeve is provided with the second rotating speed sensor for detecting the rotating speed of the land wheel shaft. The fixing plate is transversely arranged, and one end of the inner side of the fixing plate is fixedly arranged on a main body frame of the combined operation machine; the suspension arm is arranged below the fixed plate and is connected with the fixed plate through the adjusting rod, a transverse shaft hole is formed in the middle of the suspension arm, and an opening communicated with the transverse shaft hole is formed in the upper surface of the suspension arm; the adjusting rod is of an inverted T shape and is composed of a vertical shaft and a bottom transverse shaft, the bottom transverse shaft is arranged in the transverse shaft hole, a limiting mounting hole is formed in the fixing plate, the upper portion of the vertical shaft penetrates through the limiting mounting hole, the bottom end of the vertical shaft penetrates through the opening to be connected with the bottom transverse shaft, and the opening is a long hole extending in the front-back direction, so that the bottom transverse shaft can rotate in the suspension arm in the vertical swinging process of the suspension arm; the vertical shaft of the adjusting rod is sleeved with a spring at a position between the fixed plate and the suspension arm, the upper end and the lower end of the spring are propped against the fixed plate and the suspension arm, and the ground wheel is pressed on the ground through the suspension arm.
Furthermore, an electrohydraulic proportional valve and a reversing valve are arranged on a liquid inlet pipeline of the hydraulic motor, and control signal input ends of the electrohydraulic proportional valve and the reversing valve are connected with a control system. The control system limits the hydraulic flow entering the hydraulic motor by adjusting the opening of the electro-hydraulic proportional valve, so that the output rotating speed of the hydraulic motor is adjusted. The control system controls on-off of a liquid inlet pipeline of the hydraulic motor through the reversing valve, and when the second rotating speed sensor detects that the land wheel is static or reverse, the liquid inlet pipeline is cut off through the reversing valve; when the land wheel rotates forward, the reversing valve conducts the liquid inlet pipeline.
Further, the rotary tillage ditching system is provided with a ditch cleaning shovel, a soil retaining cover shell and a soil throwing cover shell. The ditch cleaning shovel is arranged at the rear of the middle ditching cutter head, and the bottom of the ditch cleaning shovel is inclined towards the advancing direction of the combined machine. The soil throwing cover shell is arranged above the ditch cleaning shovel and is connected with the top of the ditch cleaning shovel; the soil throwing housing is provided with an upwardly arched arc-shaped baffle plate, and the arc-shaped baffle plate extends towards the advancing direction of the combined machine to guide the soil shoveled by the ditch cleaning shovel forwards. The soil retaining housing is arranged between the rotary tillage cutter group and the soil crushing roller and is composed of two shells, the two shells are respectively positioned at the left side and the right side of the soil throwing housing and used for blocking and flattening the soil turned up by rotary tillage, and the bottoms of the shells are arranged in a zigzag shape.
Further, the planting unit comprises a seedling box, a seedling feeding mechanism and a planting arm. The seedling box is obliquely arranged and provided with a plurality of seedling channels which are arranged in parallel, and the lower parts of the seedling channels are provided with hollowed-out parts. The seedling conveying mechanism comprises a circulating conveyor belt, one section of the circulating conveyor belt is embedded in the hollowed-out part and is contacted with seedlings in the seedling channel for controlling the lowering of the seedlings, and an anti-slip mechanism is arranged on the surface of the circulating conveyor belt. The planting arm takes seedlings from a seedling door positioned below the seedling box, and the seedlings are planted into the narrow grooves formed in the circular cutterhead.
Further, the seedling conveying mechanism further comprises a ratchet transmission mechanism for driving the circulating conveyor belt, and the ratchet transmission mechanism comprises a tooth poking rotating shaft, a ratchet shaft and a pawl. The ratchet shaft and the pawl are arranged on a box body frame structure of the seedling box, the ratchet shaft is a gear shaft and is transversely arranged, and a plurality of racks and tooth grooves extending along the transverse direction are arranged on the surface of the ratchet shaft; the pawl is arranged at the side of the ratchet shaft through the shaft pin and is used for pushing the ratchet shaft to rotate; the endless conveyor belt is wound around a ratchet shaft. The contact surface of the circulating conveyor belt and the ratchet shaft is provided with a bulge array, and bulges forming the bulge array are meshed with tooth grooves of the ratchet shaft, so that the rotation of the ratchet shaft can drive the circulating conveyor belt to move. The protrusion array is made of a plurality of rivets which are regularly arranged on the circulating conveyor belt, the heads of the rivets form the protrusions, the tips of the rivets penetrate through the conveyor belt to be in contact with seedlings, the anti-slip mechanism is formed, and the contact friction force between the circulating conveyor belt and the seedlings is increased. The tooth-shifting rotating shaft is driven to rotate by the driving device, the left and right first tooth-shifting shafts are provided with left and right first tooth-shifting gears, when the seedling box transversely moves to the left end/right end limiting position of the seedling box, the first tooth-shifting gears at the left end/right end of the seedling box can shift to the pawl, the pawl is driven to push the ratchet shaft to rotate by a certain angle, the circulating conveyor belt is driven to rotate, seedlings are controlled to move downwards, and the seedlings are prevented from freely falling.
Preferably, the surface of the soil compacting roller body is covered with a rubber layer, and when the hardness of the rubber layer is 60-70 degrees, the clay condition of the soil compacting roller body can be effectively improved.
Further, the left roller body and the right roller body are respectively provided with a left-right through central shaft hole, and the left roller body and the right roller body are sleeved on the soil crushing roller shaft through the central shaft holes and are fixed on the soil crushing roller shaft through the locking device. The locking device comprises two groups of auxiliary plates which are respectively used for fixing the left roller body and the right roller body; the auxiliary plates comprise a regular polygon outer auxiliary plate and a round inner auxiliary plate, the regular polygon outer auxiliary plate is fixed at the end part of the soil crushing roller shaft, and the round inner auxiliary plates of the two groups of auxiliary plates are fixed at the middle part of the soil crushing roller shaft. The central shaft holes of the left roller body and the right roller body are formed by connecting an inner section and an outer section, wherein the inner Duan Zhoukong is a round hole, and the size of the round hole is larger than that of the outer section shaft hole; the outer section shaft hole is regular polygon which is consistent with the shape of the regular polygon outer auxiliary plate, so that the regular polygon outer auxiliary plate can pass through the whole section of central shaft hole; the diameter of the circular inner auxiliary plate is larger than that of the inner section shaft hole, so that the outer edge of the circular inner auxiliary plate can be fixed on the inner end face of the left/right roller body through bolts; the sharp angle of the regular polygon outer auxiliary plate is provided with a screw hole, and after the regular polygon outer auxiliary plate is staggered with the outer section shaft hole, the sharp angle of the regular polygon outer auxiliary plate is fixed on the outer end face of the left/right roller body through a bolt.
The beneficial effects are that:
1) The working equipment of the full-automatic transplanting combined working machine can orderly perform rotary tillage stubble cleaning, furrow surface flattening, furrow ditching, narrow slit cutting, transplanting, soil covering, compacting and the like on uncultivated lands at one time to form soil conditions required by blanket Miao Tigao rapid transplanting operation of crops such as rape, has good shaping effect on the soil, ensures transplanting quality under the condition of high-speed transplanting, is reasonable in structural configuration, is easy to produce, manufacture, manage and maintain, and is suitable for popularization and use;
2) The transplanting unit of the full-automatic transplanting combined machine provided by the invention regulates the descent of seedlings through the circulating conveyor belt, so that the problem of low transplanting frequency of seedlings which fall down only by self weight is effectively solved, and the process of taking-delivering-planting can be rapidly completed through the rotary planting mechanism aiming at blanket-shaped seedlings such as rape and the like, so that the working efficiency is effectively improved;
3) The full-automatic transplanting combined operation machine can accurately control the planting speed of the operation machine in a closed loop manner through the arrangement of the ground wheel speed measuring system and the sensor, and improves the operation efficiency and the operation effect;
4) Compared with the existing active control profiling system, the ground profiling system of the full-automatic transplanting combined operation machine has the advantages of low manufacturing and using cost, easy maintenance and stable operation in a working state; compared with the existing passive profiling system, the system has the advantages that vibration transmitted to the planting unit by the terrain mutation can be effectively reduced through structural optimization, mechanical damage is avoided, and a good profiling effect is achieved.
Drawings
FIG. 1 is a schematic view of a partial structure of a dual planting unit fully automatic transplanting combine;
FIG. 2 is a schematic diagram of the overall structure of a fully automatic transplanting combined machine;
FIG. 3 is a schematic structural view of a rotary tillage ditching system and a micro soil preparation narrow ditch system;
FIG. 4 is a schematic transmission diagram of a rotary tillage ditching system and a micro soil preparation narrow ditch system;
FIG. 5 is a schematic diagram of the structure and workflow of a rotary tillage ditching system and a micro soil preparation narrow ditch ditching system;
FIG. 6 is a schematic structural view of a rotary tillage ditching system;
FIG. 7 is a schematic view of a travel route of a fully automatic transplanting combined machine in the field;
FIG. 8 is a schematic view of a partial structure of a rotary tillage ditching system and a micro soil preparation narrow ditch system;
FIG. 9 is a schematic view of the construction of the soil breaking roller;
FIG. 10 is a right side view of the right roller body of the soil breaking roller;
FIG. 11 is a left side view of the right roller body of the soil breaking roller;
FIG. 12 is a front view of the right roller body of the soil breaking roller;
FIG. 13 is a schematic view of the construction of a soil breaking roller shaft;
FIG. 14 is a schematic view of the construction of a plain soil slitting roller;
FIG. 15 is a schematic view of the construction of the earth-engaging compacting system;
FIG. 16 is a schematic view of the construction of the earthing press roller;
FIG. 17 is a schematic view of a partial structure of the earthing press roller;
FIG. 18 is a schematic view of a partial structure of the earthing press roller;
FIG. 19 is a schematic view of a partial structure of a dual planting unit fully automatic transplanting combine;
fig. 20 is a schematic layout diagram of the hydraulic drive system 1 and the control system;
FIG. 21 is a block diagram of a control system;
FIG. 22 is a schematic diagram of a control flow of the control system;
FIG. 23 is a schematic structural view of a ground profiling system;
FIG. 24 is a cross-sectional view of the sense wheel;
FIG. 25 is a schematic view of the structure of the movable ear;
FIG. 26 is a schematic view of the structure of the movable bracket;
FIG. 27 is a schematic view of the structure of a stationary bracket;
FIG. 28 is a schematic diagram of a control mechanism;
FIG. 29 is a schematic view of the connection of the planting unit to the ground profiling system;
FIG. 30 is a schematic diagram of a valve spool valve position;
fig. 31 is a schematic diagram of a pipeline structure of the ground profiling system connected with the hydraulic driving system 1;
FIG. 32 is a schematic view of a planting unit mounting bracket;
FIG. 33 is a schematic view of a seedling box height adjustment mechanism;
FIG. 34 is a schematic view of a hanger;
FIG. 35 is a schematic view of the structure of the secondary hanger;
FIG. 36 is a schematic diagram of a ground wheel speed measurement system;
FIG. 37 is a cross-sectional view of the ground wheel speed measurement system;
FIG. 38 is a schematic view of a ratchet drive mechanism;
fig. 39 is a schematic view of the operation of the arm.
In the above figures:
1-hydraulic drive system
101-oil tank, 102-filter, 103-hydraulic pump, 104-overflow valve, 105-unloading valve, 106-throttle valve, 107-stop valve;
2-seedling rack;
3-rotary tillage intermediate ditching system
301-rotary tillage devices, 302-three-point suspensions, 303-soil retaining covers, 304-first mounting brackets, 305-middle ditch cleaning shovels, 307-first-stage chain transmission mechanisms, 308-second-stage chain transmission mechanisms, 309-micro soil preparation device transmission boxes, 310-middle gear boxes, 311-rotary tillage cutter shafts, 312-rotary tillage transmission boxes, 313-third-stage chain transmission mechanisms, 314-rotary tillage cutter groups, 315-middle ditching cutter heads, 316-ditch cleaning shovels and 317-soil throwing covers;
4-ground wheel speed measuring device
401-adjusting rod, 402-fixing plate, 403-spring, 404-fixed shaft, 405-suspension arm, 406-bottom horizontal shaft, 407-land axle, 408-second rotation speed sensor, 409-land wheel, 411-screw, 412-sensor fixing plate, 413-welding position, 414-set screw, 415-bearing;
5-micro-shaping narrow-groove cutting system
501-soil breaking rollers, 502 soil breaking roller soil scraping devices, 503-flat soil slitting rollers, 504-round inner auxiliary plates, 505-regular polygon outer auxiliary plates, 506-sprocket boxes, 507-hanging rods, 508-pressure springs and 509-transition covers;
The soil pulverizing roller 501 includes: 501.1-soil breaking roll shafts, 501.2-left roll bodies, 501.3-right roll bodies and 501.4-annular grooves;
the soil-leveling slitting roller 503 includes: 503.1-plain soil slitting roll shafts, 503.2-round cutterheads and 503.3-soil pressing roll bodies;
6-planting system
601-circulating conveyor belt, 602-gear plate, 603-gear lever, 605-hydraulic motor, 606-second mounting bracket, 608-reciprocating screw, 609-auxiliary hanging rack, 610-first rotation speed sensor, 612-planting arm, 613-second transmission case, 614-right bearing block, 615-linear guide rail, 616-pulling slide block, 617-pawl, 618-first transmission case, 619-middle rotating shaft, 620-driven sprocket, 621-connecting angle iron, 622-driving sprocket, 623-left bearing block, 624-guide block, 625-first shifting tooth, 626-ratchet shaft, 627-second shifting tooth, 628-sliding rod, 629-seedling case;
the second mounting bracket 606 includes: 606.1 girder
The sub-hanger 609 includes: 609.1-a hanger bar;
7-earthing suppression system
701-a hydraulic quick connector, 702-an oil pipe, 703-a fixed bracket, 704-an oil cylinder, 705-a hinge shaft, 706-a hanging bracket and 707-a covered soil pressing wheel combination;
the earthing press roller assembly 707 includes: 707.1-spring bottom plate, 707.2-wheel combination, 707.3-spring, 707.4-ball hinged block, 707.5-earthing movable frame, 707.6-third shaft pin, 707.7-intermediate shaft, 707.8-fixed rod;
The wheel combination 707.2 comprises: 702.2.1-scraping plate, 702.2.2-scraping support, 702.2.3-sliding sleeve, 702.2.4-ball shaft, 702.2.5-bearing, 702.2.6-wheel body, 702.2.7-rubber layer.
8-a traction device;
9-ground profiling system
901-a sensing wheel, 902-a movable bracket, 903-a fixed lug, 904-a second fixed bracket, 905-a movable bracket, 906-an adjustable rod, 907-a pull wire, 908-a movable lug, 909-a third mounting bracket, 910-a valve group, 911-a pull lug, 912-a second return spring;
the sensing wheel 901 includes: 901.1-external rubber wheels and 901.2-middle shaft sleeves;
the movable bracket 902 includes: 902.1-groove type shaft holes;
10-control panel;
11-electric cylinder;
12-lifting oil cylinder;
13-lifting control handles;
14-triple pump.
Description of the embodiments
The transplanting combined working machine shown in fig. 1 and 2 comprises an operating platform, a control system, a main body frame, a hydraulic driving system 1, a seedling frame 2, a rotary tillage ditching system 3, a land wheel speed measuring system 4, a micro soil narrow ditch digging system 5, a planting system 6, a soil covering compacting system 7, a traction device 8, a ground profiling system 9 and the like. The hydraulic driving system 1, the seedling frame 2, the rotary tillage ditching system 3, the land wheel speed measuring system 4, the rotary tillage ditching system 5, the planting system 6, the earthing compacting system 7, the traction equipment 8 and the ground profiling system 9 are respectively arranged on the main body frame. In this embodiment, the traction device 8 adopts a tractor, and the front end of the main body frame is connected with the tractor through a three-point suspension mechanism 302, and is driven by the tractor to carry out traction. The three-point hitch 302 is prior art and is not described in detail herein. The operation desk is arranged in a cab of the tractor and is connected with the control system. The working equipment such as the rotary tillage ditching system 3, the micro-soil ditching system 5, the planting system 6, the earthing compacting system 7 and the like are sequentially arranged behind the traction equipment 8 from front to back. In this embodiment, the front direction refers to the traveling direction of the combined machine.
In order to further clarify the technical scheme and working principle of the invention, the following describes each component in detail with reference to the drawings and the specific embodiments.
Seedling rack
As shown in fig. 1 and 2, the seedling rack 2 is mounted at the front part of the main body rack, and a plurality of seedling trays can be stacked and placed, and the seedling trays are used for storing blanket seedlings added into the planting system, so that the combined machine can carry a large number of seedlings at one time, and continuous operation is convenient.
(II) rotary tillage ditching system and micro-soil preparation narrow ditch ditching system
As shown in fig. 3 to 8, the rotary tillage ditching system 3 is provided with a rotary tillage cutter shaft 311, a ditch cleaning shovel 316, a soil retaining cover 303, a soil throwing cover 317 and other components.
The rotary tillage cutter shaft 311 is transversely mounted on the first mounting bracket 304. The first mounting bracket 304 is fixedly connected with the main body frame and is composed of a cross beam and left and right side arms positioned at two ends of the cross beam. The two ends of the rotary tillage cutter shaft 311 are connected with the left and right side arms of the first mounting bracket 304 through bearings.
The middle part of the rotary tillage cutter shaft 311 is provided with a middle ditching cutter head 315 for ditching furrows (namely drainage ditches), and two sides of the rotary tillage cutter shaft are provided with a plurality of rotary tillage cutter groups 314. One rotary blade set 314 is formed of a plurality of blades arranged around the rotary blade shaft 311, the blades being directly fixed to the rotary blade shaft 311. The middle ditching cutter head 315 is composed of a disc body and a plurality of blades arranged around the disc body, the blades are fixed at the edge part of the disc body, the disc body is fixedly arranged at the middle position of the rotary tillage cutter shaft 311 in a coaxial mode, the outer diameter of the middle ditching cutter head 315 is larger than the outer diameter of the rotary tillage cutter head 314, and the soil turning depth is larger than the outer diameter of the rotary tillage cutter head 314.
The ditch cleaning shovel 316 is arranged behind the middle ditching cutter head 315, the bottom of the ditch cleaning shovel 316 is inclined towards the advancing direction of the combined machine, and the soil throwing cover 317 is arranged above the ditch cleaning shovel 316 and is connected with the top of the ditch cleaning shovel 316. The soil throwing cover 317 is provided with an arc-shaped baffle which is arched upwards and extends towards the advancing direction of the combined operation machine, and the soil shoveled by the ditch cleaning shovel 316 is guided forwards, so that the shoveled soil is pushed towards two sides of the ditch body of the furrow, as shown in fig. 5.
The soil retaining cover 303 is disposed behind the rotary blade set 314, between the rotary blade set 314 and the soil crushing roller 501, and is provided with two housings on the left and right sides, and the soil throwing cover 317 is sandwiched between the two housings. The soil throwing cover 317 and the soil retaining cover 303 are used for blocking and flattening the soil turned up by rotary tillage, and the bottom of the soil retaining cover 303 is preferably provided with a saw-tooth structure.
The ditch cleaning shovel 316, the soil throwing cover 317 and the soil retaining cover 303 are fixedly connected with the cross beam of the first mounting bracket 304.
The micro-soil narrow-ditch system 5 is arranged at the rear of the rotary tillage ditching system 3, and is provided with a soil crushing roller 501, a soil crushing roller scraping device 502, a soil leveling and slitting roller 503 and other components. As shown in fig. 9, the soil breaking roller 501 is composed of a left roller body 501.2 and a right roller body 501.3 which are mounted on the soil breaking roller shaft 501.1, and a certain interval is left between the left roller body 501.2 and the right roller body, and the interval is aligned with the middle ditching cutter head 315 on the front rotary tillage cutter shaft 311.
The soil crushing roller 501 and the soil slitting roller 503 are parallel to the rotary tillage cutter shaft 311, the left side and the right side of the soil crushing roller 501 and the soil slitting roller 503 are respectively provided with a transition housing 509 and a chain wheel box housing 506, and the two ends of the roller shafts of the soil crushing roller 501 and the soil slitting roller 503 are respectively connected to the transition housing 509 and the chain wheel box housing 506 through bearings.
The transition housing 509 is identical to the sprocket case housing 506 except that the sprocket case housing 506 is also used to mount a drive sprocket, and the transition housing 509 is used only to mount the soil breaking roller 501 and the soil slitting roller 503.
The transition housing 509 and the sprocket case housing 506 are each connected to an upper cantilever arm, which is fixed to the main body frame, by two suspension rods 507, as shown in fig. 8. The upper and lower ends of the hanging rod 507 are hinged with the cantilever, the transition housing 509 or the sprocket box housing 506 through hinged supports. The two hanging rods 507 positioned on the same side are respectively positioned right above the roll shafts of the soil crushing roll 501 and the soil slitting roll 503 by the hinged supports.
The hanging rod 507 is provided with a pressure spring 508, and the pressure spring 508 is used for pressing the soil crushing roller 501 and the soil flattening slitting roller 503 by a certain pressure so as to ensure the contact pressure between the soil and the soil.
Taking the right roller body 501.3 as an example, as shown in fig. 9 and 12, the right roller body 512 is provided with three unit sections having spiral blades on the surfaces along the axial direction. The unit sections and the outermost unit section and the end part of the right roller body 501.3 are separated by an annular groove 501.4, the cross section of the annular groove 501.4 in the radial direction of the right roller body 501.3 is trapezoid, two bottom edges of the trapezoid are outer bottom edge wide, and inner bottom edge narrow, namely, the annular groove 501.4 is outer wide and inner narrow. The structures of the left roller body 501.2 and the right roller body 501.3 are mirror symmetry with a central line between the left roller body 501.2 and the right roller body 501.3 as a center, the spiral blade on the right roller body 501.3 is a left-handed thread, the spiral blade on the left roller body 501.2 is a right-handed thread, and the spiral angle alpha of the spiral blade is 24 degrees. The spiral direction of the spiral blades on the adjacent unit sections of the left/right roller bodies is still connected after the spiral blades are disconnected by the annular grooves 501.4.
The two ends of the soil crushing roller soil scraping device 502 are fixedly arranged on the transition housing 509 and the chain wheel box housing 506 through supporting rods, a horizontal scraping plate is arranged in the middle of the soil crushing roller soil scraping device, the scraping plate is parallel to the soil crushing roller 501 and is arranged at a position close to the spiral blade for scraping the soil adhered to the spiral blade.
The left roller body and the right roller body are sleeved on the soil breaking roller shaft 501.1 through central shaft holes and are detachable and fixed on the soil breaking roller shaft 501.1 through locking devices.
As shown in fig. 13, the locking device includes two sets of auxiliary plates for fixing the left roller body and the right roller body, respectively. The auxiliary plates comprise a regular polygon outer auxiliary plate 505 and a round inner auxiliary plate 504, wherein the regular polygon outer auxiliary plate 505 is fixed at the end part of the soil crushing roller shaft 501.1, is perpendicular to the soil crushing roller shaft 501.1 and is concentric with the soil crushing roller shaft 501.1; the circular inner auxiliary plate 504 is fixed at a position close to the middle of the soil crushing roller shaft 501.1, is perpendicular to the soil crushing roller shaft 501.1 and is concentric with the soil crushing roller shaft 501.1. The two circular inner auxiliary plates 504 are preceded by a spacing corresponding to the intermediate cutterhead 315. The central shaft holes of the left roller body and the right roller body are formed by connecting inner and outer sections, wherein the inner Duan Zhoukong is a round hole, the size of the round hole is larger than that of the outer section shaft hole, the outer section shaft hole is a regular polygon consistent with the shape of the outer auxiliary plate, and the axes of the inner section shaft hole and the outer section shaft hole are on the same axis, so that the regular polygon outer auxiliary plate 505 can pass through the whole section shaft hole.
The diameter of the circular inner auxiliary plate 504 is larger than that of the inner section shaft hole, and the outer edge part of the circular inner auxiliary plate can be fixed on the inner end surface of the left roller body or the right roller body through bolts. The sharp angle of the regular polygon outer auxiliary plate 505 is provided with a screw hole, after the regular polygon outer auxiliary plate 505 is staggered with the outer section shaft hole, the sharp angle of the regular polygon outer auxiliary plate can be fixed on the outer end face of the left roller body or the right roller body through bolts, and the outer end face of the left roller body or the right roller body is provided with corresponding bolt mounting holes.
The shapes of the regular polygon outer auxiliary plate 505 and the outer section shaft hole are preferably triangular, as shown in fig. 9 and 10. Taking the right roller body as an example, when the right roller body is installed, the right roller body is inserted from the right end of the soil crushing roller shaft 501.1, the inner auxiliary plate and the outer auxiliary plate sequentially pass through the shaft holes until the inner end face of the right roller body contacts with the round inner auxiliary plate 504, the right roller body is rotated to stagger the regular polygon outer auxiliary plate 505 and the outer section shaft hole, the round inner auxiliary plate 504 is fixed on the inner end face of the right roller body through 4 bolts and preset screw holes, and the triangular outer auxiliary plate is fixedly connected with the outer end face of the right roller body through 3 bolts.
As shown in fig. 14, the soil-leveling slitting roller 503 comprises a soil-leveling slitting roller shaft 503.1, a plurality of circular cutterheads 503.2 and a soil-compacting roller body 503.3, wherein the circular cutterheads 503.2 and the soil-compacting roller body 513.3 are coaxially and concentrically arranged on the soil-leveling slitting roller shaft 503.1 in an alternating manner.
The soil-leveling slitting roller 503 is provided with a left circular cutter head 503.2 and a right circular cutter head 503.2, and one circular cutter head 503.2 comprises three circular cutter heads. The soil pressing roller bodies 503.3 are respectively arranged between the adjacent circular cutterheads 503.2 and between the outermost circular cutterheads 503.2 and the end parts of the soil leveling slitting roller shafts 503.1, or a circular cutterhead 503.2 is respectively arranged between the two adjacent soil pressing roller bodies 513.3.
The circular cutter head 503.2 is provided with a wedge-shaped cutting edge, the surface of the soil pressing roller body 503.3 is covered with a rubber layer with the thickness of 5mm, the material hardness of the rubber layer can be selected between 60 and 70 degrees, and the operation effect is optimal when the rubber hardness is 65 degrees through tests. The positions of the circular cutterheads 503.2 on the soil-leveling slitting roller shafts 503.1 and the positions of the annular grooves 501.4 on the soil crushing roller 501 are in one-to-one correspondence, and are aligned front and back. In the working process, the wedge-shaped cutting edge of the circular cutter 503.2 can effectively break stubble to form a narrow groove required by subsequent transplanting, and meanwhile, the 65-degree rubber layer of the soil pressing roller 503.3 can effectively prevent clay.
As shown in fig. 4, an intermediate gear box 310 is installed at the middle position of the front part of the main body frame, and the power input end of the intermediate gear box 310 is in transmission connection with the engine to provide a power source for the rotary tillage ditching system 3. The left output end of the middle gear box 310 is connected with a first transmission box 309, and the first transmission box 309 drives the soil breaking roll shaft 501.1 to rotate through a primary chain transmission mechanism 307 and a secondary chain transmission mechanism 308; the right output end of the middle gear box 310 drives the rotary tillage cutter shaft 311 to rotate through a second transmission box 312; the right end of the soil breaking roll shaft 501.1 drives the soil leveling joint cutting roll shaft 503.1 to rotate through the three-stage chain transmission mechanism 313. The rolling direction of the soil breaking roller 501 and the soil leveling slitting roller 503 is the same as the advancing direction of the combined machine. The rotation speed of the soil breaking roller 501 is 180-250 rpm, and the rotation speed of the soil flattening slitting roller 503 is slightly smaller than the rotation speed of the soil breaking roller.
As shown in fig. 5, under the drive of the tractor, the rotary tillage ditching system 3 turns over soil and ditches drain ditches. Then the soil is further finely crushed and spread by the soil crushing roller 501, the soil is pushed to the position of the annular groove to form a plurality of raised soil ridges, then the soil ridge is filled with narrow furrows of seedlings by the soil flattening slitting roller 503, and meanwhile, the soil outside the narrow furrows is flattened to form the soil state required by the subsequent planting operation.
(III) planting system
The planting system 6 is arranged behind the micro-soil-preparation narrow-ditch-opening system 5 and is composed of more than one planting unit. As shown in fig. 1, 29 and 32, the planting unit is composed of a hanger, a second mounting bracket 606, a seedling box 629, a seedling feeding mechanism, a planting arm 612, a seedling box height adjusting mechanism, a transverse box moving mechanism, a transmission mechanism and other components.
The hanging rack comprises a main hanging rack 612 and an auxiliary hanging rack 609, wherein the main hanging rack 612 is welded on the main rack, as shown in fig. 34, the upper part of the main hanging rack 612 is provided with a left ear-shaped hanging structure and a right ear-shaped hanging structure, and the tops of the ear-shaped hanging structures are symmetrically provided with forward open slots. As shown in fig. 35, the auxiliary hanging rack 609 is provided with a hanging rod 609.1 at the upper part and a fixed connection plate at the lower part. When the planting unit is installed, after the hanging rod 609.1 of the auxiliary hanging rack 609 is placed in the opening groove of the main hanging rack 612, the fixed connecting plate at the lower part of the auxiliary hanging rack 609 is fixed on the main hanging rack 612 through bolts, and corresponding screw holes are formed in the lower part of the main hanging rack 612 and the fixed connecting plate. The hanging mode is beneficial to the rapid disassembly and installation of the planting units.
The second mounting bracket 606 is the main support structure of the seedling box 629, and includes a main beam 606.1 at the bottom of the planting unit. The second mounting bracket 606 is connected with the auxiliary hanging rack 609 through a movable frame (for example, a parallel four-bar profiling structure) formed by parallel bars, so that the planting unit can be fluctuated along with the ground, and profiling of the planting unit on the ground is realized. The movable frame may be of prior art and will not be described here.
The seedling box 629 is obliquely arranged on the second mounting bracket 606, the seedling box 629 is provided with a plurality of parallel seedling channels, and blanket seedlings are stored in the seedling channels and move downwards under the drive of the transmission belt. The seedling channels are isolated by a baffle plate, a hollowed part is arranged at the lower part of the seedling channel, and a circulating conveyor belt 601 is embedded in the hollowed part and is used for driving seedlings in the seedling channel to descend.
The seedling feeding mechanism comprises the circulating conveyor belt 601 and a ratchet transmission mechanism for driving the circulating conveyor belt 601. The ratchet drive mechanism includes a pinion shaft, a ratchet shaft 626 and a pawl 617. The gear shifting rotating shaft is arranged on the main beam 606.1 through a shaft seat, and a left first gear shifting tooth 625 and a right first gear shifting tooth 625 are arranged on the gear shifting rotating shaft. The ratchet shaft 626 and the pawl 617 are mounted on a box frame structure of the seedling box 629, the ratchet shaft 626 is a gear shaft and is transversely arranged, a plurality of racks and tooth grooves which transversely extend are arranged on the surface of the ratchet shaft 626, and the pawl 617 is mounted at the side of the ratchet shaft 626 through a shaft pin and used for pushing the ratchet shaft 626 to rotate. The endless belt 601 is wound around the ratchet shaft 626. The contact surface of the endless belt 601 with the ratchet shaft 626 is provided with an array of projections which are engaged with the teeth of the ratchet shaft 626. The protruding array can adopt the rule to install on the conveyer belt a plurality of rivets to make, the head of rivet constitutes protruding, and when the rivet penetrated the pointed end of conveyer belt and the seedling contact, can play fixed spacing's effect to the seedling, prevent that the seedling from freely sliding down under the action of gravity.
The planting arm 612 is arranged below the seedling box 629, and the bracket structure of the planting arm 612 is fixedly connected with the main beam 606.1 through a connecting angle iron 621. The planting arm 612 is used for cutting seedling blocks from a seedling gate below the seedling box 629 to complete planting, as shown in fig. 39, two seedling needles of the planting arm continuously rotate under the drive of the driving device, take seedlings from the seedling gate in turn, transport the seedlings, and insert the seedlings into narrow grooves opened by the circular cutterhead 503.2. The planting arm 612 in this embodiment adopts the prior art, which is not described herein, and in use, the inclination angle and the size parameter should be adaptively modified according to the type of the specific crop, such as rape.
The seedling box 629 is connected to the second mounting bracket 606 by a guide mechanism including a traversing guide mechanism and a height-adjusting guide mechanism.
The traversing guide mechanism comprises a linear guide rail 615 and a plurality of guide blocks 624, wherein the linear guide rail 615 extends along the transverse direction and is arranged at the lower part of the second mounting bracket 606; the guide block 624 is parallel to the linear guide rail 615 and is fixed to the upper portion of the second mounting bracket 606. The back of the seedling box 629 is provided with an upper linear chute and a lower linear chute, the lower linear chute is clamped on the linear guide rail 615, and the upper linear chute is clamped on the guide block 624, so that the seedling box 629 can move transversely along the linear guide rail 615 under the pushing of external force.
The height adjustment guide mechanism includes a stop and a sliding bar 628. The limiting frame is fixedly connected with the main beam 606.1, a limiting guide hole is formed in the limiting frame and aimed at the sliding rod 628, the sliding rod 628 is obliquely inserted into the limiting guide hole, and the sliding rod 628 can move up and down along the oblique direction under the driving of external force. The sliding rod 628 has the same inclination direction as the seedling box 629, and the sliding rod 628 is fixedly connected with the linear guide 615. A slot is provided in the upper portion of the sliding bar 628 where the limit guide hole is formed.
The seedling box height adjusting mechanism is provided with a gear plate 602, a gear lever 603, an intermediate rotating shaft 619 and a second shifting tooth 627.
The upper part of the gear lever 603 passes through the gear plate 602, and the bottom of the gear lever 603 is fixedly connected with the middle rotating shaft 619. The intermediate shaft 629 is mounted in a shaft seat that is rotatable in the shaft seat, which is fixedly connected to the main beam 606.1. The intermediate rotary shaft 629 is positioned in front of the slide bar 628 in parallel with the linear guide 615, and the second shift teeth 627 are mounted on the intermediate rotary shaft 629. One end of the second shifting tooth 627 is fixed on the middle rotating shaft 629, and the other end is inserted into the slot of the sliding rod 628. The lever 603, the intermediate shaft 629, and the second dial 627 constitute a lever structure with the intermediate shaft 629 as a fulcrum. The gear lever 603 is pressed down, the second shifting teeth 627 are driven to rotate through the middle rotating shaft 619, the sliding lever 628 is lifted up together with the linear guide rail 615 and the seedling box 629 arranged on the linear guide rail 615, and the height of the seedling box 629 is changed, so that the one-time seedling taking amount of the planting arm 612 is adjusted.
The gear plate 602 is provided with gear clamping grooves with different heights, after the seedling taking amount of the planting arm 612 is adjusted,
the shift lever 603 is limited to a corresponding shift position by a locking structure to maintain the height of the seedling box 629. The linear chute opening above the seedling box is snapped down on the guide block 624 and the linear chute will not disengage from the guide block 629 when the seedling box 629 is lifted up within the limits of the gear plate 602.
The transverse box moving mechanism comprises a reciprocating screw 608 and a pulling slide block 616, the pulling slide block 616 is arranged on a sliding sleeve of the reciprocating screw 608, and two ends of a lever body of the reciprocating screw 608 are transversely arranged on a main beam 606.1 through a left bearing seat 623 and a right bearing seat 614 respectively. The pull block 616 is connected to the box frame structure of the seedling box 629. The bar body of the reciprocating screw 608 is driven by the hydraulic motor 605 to rotate, and the sliding sleeve moves linearly along the bar body, so that the seedling box 629 is driven to move transversely by pulling the sliding block 616. One end of the reciprocating screw 608 is provided with a first rotational speed sensor 610, the first rotational speed sensor 610 is preferably a rotary encoder, and can measure the rotational speed of the hydraulic motor 605, and the rotational speed is fed back to the control system, so that the control system can conveniently monitor the rotational speed. The hydraulic motor 605 is connected with the hydraulic drive system 1, and the hydraulic drive system 1 provides power for the hydraulic motor 605.
The transmission mechanism of the planting unit comprises a first transmission case 618, a second transmission case 613, a driven sprocket 620 and a driving sprocket 622, wherein the driving sprocket 622 is installed on a transmission connecting shaft of the hydraulic motor 605 and a bar body of the reciprocating screw 608, the driven sprocket 620 is installed on a power input shaft of the first transmission case 618, and the driving sprocket 622 drives the driven sprocket 620 to rotate through a chain to provide power for the first transmission case 618. The first transmission case 618 is provided with two output shafts, one output shaft of which is connected with a tooth-shifting rotating shaft of the ratchet transmission mechanism, and drives the tooth-shifting rotating shaft to rotate so as to drive seedlings in the seedling case 629 to move downwards; the other output shaft is connected with the power input shaft of the second transmission case 613, and the power output shaft of the second transmission case 613 is connected with the rotating shaft of the planting arm 612 to drive the planting arm 612 to work. A gear mechanism is arranged in the first transmission case 618, and the rotation speed of the output shaft can be adjusted through the ratio-changing speed regulation of gears.
Driven by the hydraulic motor 605, the seedling box 629 moves transversely, and the seedling needles of the planting arm 612 sequentially take out a whole row of seedlings at the bottom of the seedling box 629 and plant the seedlings in soil. When the seedling box 629 moves transversely to the left end limit position, the first shifting tooth 625 at the left end shifts to the pawl 617 on the ratchet mechanism, so that one end of the pawl 617 near the ratchet shaft 626 is inserted into the tooth groove of the ratchet shaft 626, the ratchet shaft 626 is pushed to rotate by a certain angle, the circulating conveyor belt 601 is driven to rotate, seedlings placed on the circulating conveyor belt 601 move downwards by a certain distance, and the bottom row space of the seedling box 629 is filled. Thereafter, the pawl 617 is reset, the control system controls the hydraulic motor 605 to rotate reversely, the seedling box 629 moves reversely, the planting arm 612 continuously works, and when the seedling box 629 moves transversely to the right end limit position, the first shifting tooth 625 at the right end can shift to the pawl 617, seedlings are lowered again, and then the planting arm is cycled and reciprocated. Through practical inspection, the planting system in the embodiment can achieve a planting speed of about 300 times/min.
Fourth, land wheel speed measuring system
As shown in fig. 36 and 37, the ground wheel speed measuring system 4 is composed of a profile modeling ground wheel mechanism and a second rotation speed sensor 408. The profiling land wheel mechanism comprises an adjusting rod 401, a fixed plate 402, a suspension arm 405 and a land wheel 409.
The front end and the rear end of the suspension arm 405 are respectively provided with a transverse shaft sleeve, a fixed shaft 404 is arranged in the front shaft sleeve, one end of the fixed shaft 404 is connected with a main body frame of the combined operation machine, and the suspension arm 405 is hinged with the main body frame through the fixed shaft 404, so that the suspension arm 405 can swing up and down by taking the fixed shaft 404 as the center. The rear end axle sleeve is internally provided with a land wheel axle 407, a part of a land wheel 409 extending out of the suspension arm 405 through the land wheel axle 407 is arranged on the outer side of the suspension arm 405, the land wheel 409 rotates to drive the land wheel axle 407 to synchronously rotate, the inner side of the rear end axle sleeve is provided with a second rotating speed sensor 408, the power input end of the second rotating speed sensor 408 is in transmission connection with the land wheel axle 407, and the signal output end of the second rotating speed sensor 408 is connected with a control system of the combined machine. The middle part of the suspension arm 405 is provided with a transverse shaft hole which is penetrated left and right, and an opening which is communicated with the transverse shaft hole is arranged above the transverse shaft hole, and the suspension arm 405 is provided with a suspension arm.
The suspension arm 405 is disposed below the fixing plate 402, one end of the fixing plate 402 is fixedly mounted on the main body frame, the adjusting rod 401 is in an inverted T shape and is composed of a vertical shaft and a bottom transverse shaft 406, and the bottom transverse shaft 406 is mounted in the transverse shaft hole. The fixing plate 402 is provided with a limiting hole, the upper part of the vertical shaft penetrates through the limiting hole, and the bottom end of the vertical shaft is inserted into the suspension arm 405 through the suspension arm opening and is connected with the bottom transverse shaft 406. The suspension arm opening is a long hole extending along the front-back direction, and when the suspension arm 405 swings in an arc shape in the up-down direction around the fixed shaft 404 along with the change of the terrain, the bottom cross shaft 406 can rotate in the suspension arm 405, so that the mechanism is prevented from being blocked.
The vertical shaft of the adjusting rod 401 is sleeved with a spring 403 at a position between the fixed plate 402 and the suspension arm 405, the upper end and the lower end of the spring 403 are abutted against the fixed plate 402 and the suspension arm 405, and the ground wheel 409 is pressed on the ground through the suspension arm 405. The outer surface of the land wheel 409 is provided with an anti-slip structure, as in the embodiment shown in fig. 36, the surface of the wheel ring of the land wheel 409 is uniformly provided with 8 cylindrical protrusions, which can be inserted into the soil surface layer when contacting the ground, so as to prevent the land wheel 409 from slipping.
In this embodiment, the second rotation speed sensor 408 adopts a rotary encoder, the land axle 407 is fixed in the inner cavity of the suspension arm through a bearing 415 and a clamp spring, the second rotation speed sensor 408 is fixed with the sensor fixing plate 412 through a screw 411, the sensor fixing plate 412 is connected with a convex step in the inner cavity of the suspension arm through a welding 413, and the axle head of the input end of the rotary encoder is fixed with the land axle 407 through a set screw 414, so that relative rotation between the axle head and the land axle 407 is prevented.
(V) earthing suppression system
The earthing and compacting system 7 is arranged behind the planting system 6, as shown in fig. 15, the earthing and compacting system 7 comprises a hydraulic quick connector 701, an oil pipe 702, a first fixed bracket 703, an oil cylinder 704, a hinge shaft 705, a hanging bracket 706 and an earthing and compacting wheel combination 707.
The first fixing bracket 703 is fixed on the main body frame of the combined working machine through bolts, and the hanging frame 706 comprises a cross rod and a connecting part, and the connecting frame is fixed in the middle of the cross rod. Six groups of earthing press roller combinations 707 are sequentially arranged along the transverse direction and fixed on the cross rod of the hanging frame 706 through bolts, a larger space is reserved between the two middle earthing press roller combinations, and furrows formed by the rotary tillage ditching system 3 pass through the middle. The connection part of the hanging frame 706 is connected to the end of the first fixed bracket 703 through a hinge shaft 705, and the hinge shaft 705 is parallel to the cross bar, so that the hanging frame 706 can rotate up and down around the hinge shaft 705.
The connecting part of the hanging frame 706 is provided with a vertical rod, the cylinder sleeve of the oil cylinder 704 is arranged on the first fixed bracket 703 through a hinge structure, and the piston rod of the oil cylinder 704 is hinged with the top end of the vertical rod through a shaft pin. The control system can drive the hanging frame 706 to rotate by taking the hinge shaft 705 as the center through controlling the telescopic movement of the piston rod of the oil cylinder 704, so that the initial ballasting force of the earthing ballasting wheel combination 707 is adjusted, and the adjustment process is generally micro-regulation in a small range.
The oil inlet of the oil cylinder 704 is connected with the hydraulic driving system 1 through an oil pipe 702 provided with a hydraulic quick connector 701, and the on-off state of an oil way of the oil cylinder 704 (or the telescopic state of an oil cylinder piston rod) can be regulated and controlled through an oil cylinder control handle arranged in a tractor cab.
The earthing press roller assembly 707 includes a spring base 707.1, a wheel assembly 707.2, a spring 707.3, a ball pivot 707.4, an earthing movable frame 707.5, a third shaft pin 707.6, an intermediate shaft 707.7, and a fixed rod 707.8.
The fixing rod 707.8 is fixed on the cross rod of the hanging frame 706 through a bolt, a waist-shaped long hole matched with the bolt is formed in the fixing rod 707.8, and the installation height of the earthing press roller combination 707 on the cross rod can be adjusted up and down according to the fixing position of the bolt in the waist-shaped long hole. For ease of adjustment, graduations may be marked on the fixed bars 707.8 of each of the earthing press roller assemblies 707.
The bottom of the fixed bar 707.8 is hinged to the rear end of the earthing active frame 707.5 by a first shaft pin. The illustrated earth-covering movable frame 707.5 is disposed laterally and the ball joint 707.4 is mounted below the earth-covering movable frame 707.5 and connected to the earth-covering movable frame 707.5.
The spring bottom plate 707.1 is inverted U-shaped and has a central aperture through which it is sleeved on the intermediate shaft 707.7 and is movable up and down relative to the intermediate shaft 707.7. The bottom of the intermediate shaft 707.7 is provided with a flange disc, the left and right sides of the flange disc are flattened, and flat openings are machined, so that the intermediate shaft 707.7 cannot twist left and right when the bottom of the intermediate shaft is clamped in the spring bottom plate 707.1. The spring base 707.1 is provided with symmetrical shaft holes at both sides, and the spring base 707.1 is hinged to the front end of the earthing movable frame 707.5 through a second shaft pin, so that the intermediate shaft 707.7 can pitch back and forth. The top of the intermediate shaft 707.7 is movably connected with the front end of a supporting arm through a third shaft pin 707.6, and the rear end of the supporting arm is fixed on a fixed rod 707.8. In the above structure, the fixed lever 707.8, the intermediate shaft 707.7, the earthing movable frame 707.5 and the support arm constitute a quadrangular structure, and the first shaft pin, the second shaft pin and the third shaft pin 707.6 are parallel to each other.
The spring 707.3 is slipped over the intermediate shaft 707.7, the top of which is restrained below the third shaft pin 707.6 and the bottom of which presses against the surface of the spring base 707.1 for ensuring contact pressure of the wheel assembly 707.2 with the soil.
The wheel assembly 707.2 includes components such as a scraper 702.2.1, a scraper support 702.2.2, a sliding sleeve 702.2.3, a ball axle 702.2.4, bearings 702.2.5, a wheel 702.2.6, a rubber layer 702.2.7, and the like.
One wheel assembly 707.2 includes two wheels 702.2.6 with bearings 702.2.5 in the center of the wheels 702.2.6.
The ball head at the tail end of the ball shaft 702.2.4 is arranged in the ball hinging block 707.4, and can do multi-degree-of-freedom motion in the ball hinging block 707.4, so that the opening angle and the included angle of the two wheel bodies in the pair of wheel assemblies 707.2 can be conveniently adjusted. The sliding sleeve 702.2.3 is sleeved on the ball shaft 702.2.4 and can move on the ball shaft 702.2.4 so as to facilitate adjustment of the distance between the two wheels in the pair of wheel sets 707.2. The wheel 702.2.6 is mounted on a sliding sleeve 702.2.3 and is contacted with the sliding sleeve by an inner ring of a bearing 702.2.5.
The scraping support 702.2.2 is arranged on the outer side surface of the wheel body 702.2.6, and each wheel body 702.2.6 is provided with a scraping support 702.2.2. One end of the scraping support 702.2.2 is used for installing the scraping plate 702.2.1, and the other end of the scraping support is arranged on the sliding sleeve 702.2.3 through a shaft sleeve.
The shaft rod of the ball shaft 702.2.4 is provided with a plurality of positioning holes distributed along the axial direction of the ball shaft 702.2.4, the sliding sleeve 702.2.3 and the soil scraping support 702.2.2 are provided with corresponding through holes, the shaft sleeve of the soil scraping support 702.2.2 and the sliding sleeve 702.2.3 can be locked on the shaft rod of the ball shaft 702.2.4 together through pins, and the wheel body 702.2.6 is limited between the soil scraping support 702.2.2 and the end cap of the sliding sleeve 702.2.3, so that the wheel body is prevented from being separated from the sliding sleeve 702.2.3.
A scraper 702.2.1 is provided proximate the tread for removing soil from the belt of the wheel 702.2.6 during rolling. The wheel surface of the wheel body 702.2.6 is coated with a rubber layer 702.2.7, and the hardness of the rubber layer is about HA50 degrees, so that the conditions of clay and soil can be relieved.
Sixth, ground profiling system
The combined working machine adopts the lifting oil cylinder 12 as a driving device for controlling the lifting of the planting unit. The lifting control of the planting unit is divided into manual control and automatic control. The manual control means that a person sends an instruction to a control system through an operation table to drive the lifting oil cylinder 12 to act so as to control the transplanting unit to ascend or descend. The automatic control means that the ground profiling system drives the lifting oil cylinder 12 to act so that the transplanting unit can be lifted and lowered along with the terrain.
In this embodiment, the lift cylinder 12 is a single-acting lift cylinder, which is configured with a cavity (hereinafter referred to as a rod cavity) on one side of the piston rod for oil feeding, and controls lifting of the transplanting unit through expansion and contraction of the piston rod. The piston rod of the lifting cylinder 12 is connected with the movable frame of the transplanting unit through a lifting mechanism, the lifting mechanism is in a lever structure, a shaft seat fixed on the main body frame is used as a fulcrum, and the second mounting bracket and the transplanting unit component connected with the second mounting bracket are pulled to ascend through the piston rod.
The oil delivery port of the lifting oil cylinder 12 is connected with the hydraulic driving system 1, the hydraulic driving system 1 provides oil pressure for driving the lifting oil cylinder 12 to act, a valve group 910 is arranged on a connecting pipeline of the lifting oil cylinder 12 and the hydraulic driving system 1, the valve group 910 is arranged on a third mounting bracket 909, and the third mounting bracket 909 is fixedly connected with a main body frame of the combined operation machine.
The valve block 910 includes a housing, a valve core, and a push rod, where the push rod is longitudinally disposed, and the rear end of the push rod is connected to the valve core in the housing, and the front end of the push rod extends out of the valve body. The portion of the push rod extending out of the valve body is provided with a first return spring, the first return spring is sleeved on the push rod, the rear end of the first return spring is propped against the shell of the valve block 910, and the front end of the first return spring is propped against the flange at the end of the push rod or is fixedly connected with the push rod in other modes, so that the first return spring in a compressed state can push the push rod forwards during return. As shown in fig. 30 and 31, the valve block 910 is a five-position four-way reversing valve, provided with A, B, P, T four oil ports, and the valve core can be moved and switched on five valve positions to form five paths. The five valve positions are 1 position, 2 position, middle position, 3 position and 4 position respectively, when the valve core moves to the 1 position, the oil ports A and P are normally communicated, and the oil ports B and T are communicated through a throttling channel (a channel provided with a throttling valve); when the valve core moves to the 2-position, the oil ports A and P are communicated through a throttling channel, and the oil ports B and T are normally communicated; when the valve core moves to the middle position, the oil port A and the oil port B are blocked, and the oil port P is communicated with the oil port T; when the valve core moves to the 3-position, the oil ports A and B are communicated through the throttling channel, and the oil ports P and T are normally communicated; when the valve core moves to 4 positions, the oil ports A and B are normally communicated, and the oil ports P and T are communicated through a throttling channel.
The ground profiling system comprises a profiling mechanism and a transmission mechanism.
The profiling mechanism comprises a sensing wheel 901, a movable bracket 902, a second fixed bracket 904 and other components.
The induction wheel 901 is a rubber covered wheel, is in a roller shape, and is composed of a middle shaft sleeve 901.2 and an outer rubber wheel 901.1, and the outer rubber wheel 901.1 is a hollow rubber wheel. The sensing wheel 901 is transversely arranged, is contacted with the ground during working, rolls on the ground and senses the change of the terrain. The first shaft passes through the intermediate sleeve 901.2 and is positioned at both ends in the intermediate sleeve 901.2 by bearings.
As shown in fig. 23, the movable bracket 902 is inclined, with the upper portion facing forward and the lower portion facing backward (the front side means the traveling direction of the combined machine, and the rear side means the direction opposite to the traveling direction). The lower part of the movable bracket 902 is provided with a roller fork, and the bottom ends of two arms of the roller fork are provided with groove-shaped shaft holes 902.1. During installation, two arms of the roller fork are clamped at two ends of the first rotating shaft extending out of the middle shaft sleeve 901.2 through the groove-shaped shaft holes 902.1, and then are locked and fixed through nuts. The upper portion of movable support 902 is equipped with two locating levers that are unanimous with the gyro wheel fork extending direction, be equipped with a plurality of locating holes that are in different high positions on the locating lever, the lower part of locating lever is equipped with the shaft hole, and two locating lever structures are the same. The middle part of the movable bracket 902 is hinged with the bottom of the second fixed bracket 904 through a second rotating shaft, the second rotating shaft is parallel to the first rotating shaft, and two ends of the second rotating shaft are arranged in shaft holes corresponding to the two positioning rods.
The second fixing bracket 904 is located at the rear of the movable bracket, and has a structure as shown in fig. 27, and includes two support rods connected by a cross beam to strengthen the connection structure. As shown in fig. 23, the second fixing bracket 904 is also inclined, and its upper portion is backward and its lower portion is forward inclined, so as to form an included angle with the upper portion of the movable bracket 902. The top of the second fixing support 904 is fixed on the support girder of the planting unit, a fixing lug 903 is arranged on the cross beam of the second fixing support 904, the fixing lug 903 is provided with a through hole and a notch communicated with the through hole, and the wire drawing is placed into the through hole through the notch.
The transmission mechanism comprises a stay wire 907, a movable lug 908 and a pull lug 911, wherein the movable lug 908 and the pull lug 911 are respectively arranged on a third mounting bracket 909, and the third mounting bracket 909 is positioned obliquely above the front side of the profiling mechanism.
The pull tab 911 is disposed in front of the valve block 910 and is hinged to the third mounting bracket 909 by a third rotation shaft, which is disposed transversely and perpendicular to the valve block push rod. The top end of the pull tab 911 is connected to the third mounting bracket 909 through the second return spring 912, and the bottom end is connected to the movable bracket 902 through the pull wire 907, so as to form a lever structure using the third rotation axis as a fulcrum. The second return spring 912 is parallel to the push rod, and a circular arc-shaped protruding contact is arranged between the connection point of the pull lug 911 and the pull wire 907 and the third rotating shaft, and the protruding contact is arranged at a position aligned to the front end of the push rod.
The pull wire 907 comprises a sleeve and a wire drawing located inside the sleeve, wherein the length of the wire drawing is longer than that of the sleeve and can move in the sleeve. One end of the sleeve is fixedly connected with the movable lug 908, and the other end is fixedly connected with the fixed lug 903. One end of the wire drawing passes through the movable lug 908 and then is connected with the pull lug 911, the other end passes through the fixed lug 903 and is connected with one end of the buffer spring 905, the other end of the buffer spring 905 is hung on the adjustable rod 906, and the adjustable rod 906 is matched with a positioning hole on the second fixed support 904 for use. By installing the adjustable lever 906 in the positioning holes at different height positions, the inclination angle of the movable bracket 902 is adjusted, so that the profile height of the planting unit, i.e., the distance between the planting unit and the ground, can be changed.
The movable lugs 908 are mounted on the third mounting bracket 909 through kidney-shaped long holes, as shown in fig. 1, which are located obliquely below the rear side of the valve block 910 and longitudinally disposed at the same level as the bottom ends of the pull lugs 911. By adjusting the fixed position of the movable lug 908 in the kidney-shaped long hole, the wire drawing path can be changed, so that the relaxation state of the wire drawing path is changed, and the induction sensitivity of the movable lug is adjusted.
The movable ear 908 includes a positioning portion and a limiting portion. The locating part is T type, comprises flange dish and the screw rod of fixing in flange dish one side, spacing portion is fixed in the opposite side of flange dish, is equipped with the through-hole and the opening with the through-hole intercommunication, and the wire drawing is put into in the through-hole through the opening. When the movable lug 908 is mounted, the screw is inserted into the kidney-shaped long hole until the flange plate abuts against the surface on the third mounting bracket 909, the kidney-shaped long hole is a through hole, and the screw is locked from the other side of the kidney-shaped long hole by using a nut. The longitudinal axis of the through hole of the limiting part is perpendicular to the transverse axis of the screw rod.
The hydraulic drive system 1 includes an oil tank 101, a filter 102, a hydraulic pump 103, a relief valve 104, an unloading valve 105, and a throttle valve 106. The port P of the valve block 910 is connected to the oil tank 101 through a first oil line, the hydraulic pump 103 is installed in the first oil line, and the filter 102 is installed between the inlet of the hydraulic pump 103 and the oil tank 101. The oil port A is connected with an oil delivery port with a rod cavity of the lifting oil cylinder 12 through a second oil delivery pipeline, and a stop valve 107 is arranged in the second oil delivery pipeline. The port B is connected to the tank 101 through a first return line in which an adjustable throttle valve 106 is installed. The T oil port is connected to the first oil return pipeline through the second oil return pipeline, the connection point is set to be S, and the adjustable throttle valve 106 is located between the connection point S and the B oil port. The overflow valve 104 and the unloading valve 105 are incorporated into the circuit of the hydraulic drive system 1 by means of a first branch line, which is arranged between the connection point S and the port of the second return line. The connection points of the two ends of the first branch pipeline and the first oil return pipeline are M and N respectively, and the connection point M is upstream of the connection point N on the first oil return pipeline. The first branch pipeline and the first oil pipeline have an intersection point O (the intersection point forms a four-way structure), the overflow valve 104 is arranged in the pipeline between the connection point M and the intersection point O, and the unloading valve 105 is arranged in the pipeline between the intersection point O and the connection point N. The output ends of the overflow valve 104 and the unloading valve 105 are connected with the oil tank 101, the input end of the unloading valve 105 is connected with a second oil conveying pipeline through a second branch pipeline, the connection point of the unloading valve 105 and the second oil conveying pipeline is positioned between the stop valve 107 and the oil port A, and the second branch pipeline can be provided with a throttle valve selectively. Relief valve 104 is used for pressure control of the line in which it is located. The unloading valve 105 is used for controlling the pressure of the pipeline where the unloading valve is located, and protecting the lifting oil cylinder 12 and the hydraulic pump 103, and preventing the lifting oil cylinder 12 and the hydraulic pump 103 from bearing excessive pressure when the transplanting unit encounters sudden rise and sudden fall.
When the combined machine is on the flat ground, or when the lifting control handle 13 is at the middle position, the first return spring of the ground profiling system transmission mechanism is in a half-compression state (compressed but not compressed to a limit state).
Working principle:
1) And (3) manual control:
the front of the valve block 910 is provided with an electric cylinder 11, an output shaft of the electric cylinder 11 is parallel to a push rod of the valve block 910, the end part of the output shaft of the electric cylinder is positioned at the side of the pull lug 911 and is also aligned to the front end surface of the push rod, and the electric cylinder 11 acts to push the push rod of the valve block 910 to drive the valve core to move.
The signal input end of the electric cylinder 11 is connected with a control system, the corresponding signal input end of the control system is connected with a lifting control handle 13 on the operating platform, and the lifting control handle 13 is provided with a plurality of gears.
When one row of seedlings is transplanted or the machine is required to be lifted halfway, a person dials the lifting control handle 13 to enable the gear of the machine to be at the left ascending position, after an instruction signal sent by the lifting control handle 13 is processed by the control system, a corresponding control signal is output to the electric cylinder 11, the output shaft of the electric cylinder 11 is controlled to extend, the valve core of the valve group 910 is pushed by the push rod to enable the valve core to move backwards by a distance L, at the moment, the first reset spring is further compressed, the valve core moves inwards to 1 position, oil liquid extracted from the oil tank 101 by the hydraulic pump 103 is directly supplied to a rod cavity of the lifting oil cylinder 12, the piston rod is pushed to move forwards, and the planting unit is driven to ascend by the piston rod through the lifting mechanism.
When the transplanting unit is lifted to a required position, the lifting control handle 13 is stirred to be in a neutral pressure maintaining position, the control system is used for controlling the electric cylinder 11 to retract by L/2 distance, the valve core moves outwards by L/2 distance under the action of the elastic force of the first reset spring, the valve core arrives at the neutral position, hydraulic oil output by the hydraulic pump 103 directly returns to the oil tank 101 through a PT channel and a corresponding oil return pipeline of the valve core, oil entering a rod cavity of the lifting oil cylinder 12 is sealed in the rod cavity, the piston rod cannot extend and cannot retract to be in a locking state, and the transplanting unit is in a lifting fixed state.
When the planting unit needs to be put down, the lifting control handle 13 is stirred to be positioned at the right-side descending position, an operation instruction of the lifting control handle 13 is processed through the control system, a control signal is output to the electric cylinder 12, the electric cylinder 12 is controlled to continuously retract for L/2 distance, the valve core continuously moves outwards for L/2 distance under the action of the first reset spring to reach 4 positions, hydraulic oil pumped by the hydraulic pump 103 is directly returned to the oil tank 101, oil in a rod cavity of the lifting oil cylinder 12 can be directly returned to the oil tank 101 through a loop, the planting unit pulls the piston rod to extend outwards through gravity, and the planting unit descends.
2) Automatic control:
when the planting unit descends, firstly the sensing wheel 901 contacts the ground, the movable support 905 rotates, and the pull lug 911 is driven to rotate through the wire drawing in the pull wire 907, so that the convex contact of the pull lug 911 presses the push rod, and the valve core is forced to move towards the rear of the valve group. When the height of the planting unit is at a normal position, that is, the height of the sensing wheel 901 is a preset level ground height, the valve core should move to the middle position at this time, and the lifting oil cylinder 12 is in a pressure maintaining stable state.
When the ground is raised, the sensing wheel 901 is lifted upwards, the movable support 902 rotates, the pulling lug 911 is linked through wire drawing, the pulling lug 911 rotates by taking the third rotating shaft as the center, the first reset spring on the push rod is compressed, the second reset spring 912 is stretched, the raised contact of the pulling lug 911 moves backwards, the push rod of the valve bank 910 is extruded, the valve core is driven to move by the push rod, the valve core moves to 2 positions, oil pumped by the hydraulic pump 103 from the oil tank 101 is directly supplied to the rod cavity of the lifting oil cylinder 12, the piston rod is pushed to move leftwards, at the moment, the piston rod is connected with the lifting mechanism to drive the planting unit to lift, the sensing wheel 901 moves downwards in the lifting process, the movable support 902 is reversed, the wire drawing is relaxed, at the moment, the raised contact of the pulling lug 911 moves forwards under the action of the second reset spring 912, the valve core returns to the neutral position under the pushing action of the first reset spring, and at the moment, the profiling lifting process is completed. If the ground bulge is too high, the valve core can reach 1 position, and the 1 position is opposite to the 2 positions, and a throttle valve is arranged on an oil inlet oil path, so that the lifting oil cylinder 12 can be rapidly driven to lift the planting unit.
The sensing wheel 901 moves downwards after crossing the ground bulge, the valve core moves towards the 3 positions under the action of the first return spring, the 3 positions are descending positions, and the valve core returns to the middle position after the planting unit moves downwards to reach the normal working position. When pits exist, the principle is similar, and the valve core moves towards 3 positions at the moment and is in a descending position.
Seventh, layout of hydraulic drive system and control system
Taking fig. 19 as an example, in the present embodiment, the planting system 6 of the combined working machine is provided with two planting units side by side, and the planting operations of the two planting units are performed simultaneously, so that the hydraulic motors 605 of the two planting units can be driven by one hydraulic pump and simultaneously control the start and stop; the lifting of the two planting units is independently controlled, so that the lifting cylinders 12 of the two planting units are driven by one hydraulic pump respectively, and three hydraulic pumps are required in total, so that three independent hydraulic pumps can be connected in series to form a triple pump 14 for saving space and are arranged on the main frame. The control signal input ends of the three hydraulic pumps are respectively connected with the control system.
In this embodiment, the control system uses a control board 10 with an STM32 microprocessor as a core. The two first rotation speed sensors of the planting system 6 and the second rotation speed sensor of the ground wheel speed measuring system 4 are respectively connected with the control board 10, and the detection results are fed back to the control board 10 and displayed through an operation table.
The operation panel is connected with the control panel 10, is equipped with display device, uses as the input device and the data output device of control signal, lift control handle 13 and the hydro-cylinder control handle that controls earthing press wheel all set up on the operation panel, make things convenient for the driver to operate.
The control board 10 mainly adjusts the rotation speed of the hydraulic motors 605 for controlling the two planting units according to the rotation speed signal (the signal corresponding to the running speed of the working machine) collected by the second rotation speed detecting sensor, namely the planting speed of the planting units. The above regulation and control process is realized based on an electro-hydraulic proportional valve, the electro-hydraulic proportional valve is arranged on liquid inlet pipelines of the two hydraulic motors 605, and the control board 10 can limit the hydraulic flow entering the hydraulic motors 605 by adjusting the opening degree of the electro-hydraulic proportional valve, so that the rotating speed of the hydraulic motors 605 is controlled, and the planting speed is matched with the running speed of the combined operation machine.
In the above regulation process, the control board 10 simultaneously compares the rotation speed signal collected by the first rotation speed detection sensor with the expected rotation speed of the hydraulic motor to perform more accurate PID control.
And a reversing valve is arranged on the liquid inlet pipeline of the hydraulic motor 605 at the same time, when the second rotation speed sensor feeds back the result that the land wheel 409 is static or reversely rotated, the control system controls the reversing valve to close the liquid inlet pipeline of the hydraulic motor 605, and only when the land wheel 409 positively rotates, the liquid inlet pipeline is opened, so that the planting distance is ensured to be constant.
While the foregoing has shown and described the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that the present invention is not limited to the embodiments, but rather is embodied in various changes and modifications without departing from the spirit and scope thereof, as defined in the appended claims, description and equivalents thereof, in which some of the constituent elements may be selectively arranged, such as a ground speed measuring system, a ground profiling system, etc.
Claims (11)
1. The utility model provides a full-automatic joint operation machine of transplanting, includes haulage equipment (8), operation equipment and control system, and operation equipment installs in main part frame, pulls in the rear of haulage equipment (8), its characterized in that:
the working equipment comprises a rotary tillage ditching system (3), a micro-soil-preparation narrow-ditch-digging system (5), a planting system (6) and a soil-covering compacting system (7) which are sequentially arranged from front to back, wherein the planting system (6) comprises more than one planting unit;
the rotary tillage ditching system (3) is provided with a rotary tillage cutter shaft (311), a ditch cleaning shovel (316), a soil retaining cover shell (303) and a soil throwing cover shell (317);
A middle ditching cutter head (315) for ditching is arranged in the middle of the rotary tillage cutter shaft (311), and rotary tillage cutter groups (314) are arranged at two sides;
the ditch cleaning shovel (316) is arranged behind the middle ditching cutter head (315), and the bottom of the ditch cleaning shovel (316) is inclined towards the advancing direction of the combined machine;
the soil throwing cover shell (317) is arranged above the ditch cleaning shovel (316) and is connected with the top of the ditch cleaning shovel (316); the soil throwing cover shell (317) is provided with an arc-shaped baffle plate arched upwards, the arc-shaped baffle plate extends towards the advancing direction of the combined operation machine, and the soil shoveled by the ditch cleaning shovel (316) is guided forwards;
the soil retaining cover (303) is arranged between the rotary tillage cutter group (314) and the soil crushing roller (501) and is composed of two shells, the two shells are respectively positioned at the left side and the right side of the soil throwing cover (317) and used for blocking and flattening the soil turned up by rotary tillage, and the bottoms of the shells are arranged in a zigzag shape;
the micro-soil narrow-ditch opening system (5) comprises a soil crushing roller (501), a soil crushing roller soil scraping device (502) and a soil leveling and slitting roller (503);
the soil crushing roller (501) comprises a soil crushing roller shaft (501.1), a left roller body (501.2) and a right roller body (501.3) which are arranged on the soil crushing roller shaft (501.1);
Two ends of the soil crushing roller shaft (501.1) are connected with a driving device through a transmission mechanism, and are driven to rotate by the driving device;
the right roller body (501.3) is provided with a plurality of unit sections with spiral blades on the surfaces along the axial direction, adjacent unit sections and the outermost unit sections are separated from the end part of the right roller body (501.3) through annular grooves (501.4), the cross section of each annular groove (501.4) in the radial direction of the right roller body (501.3) is trapezoid, and each annular groove (501.4) is wide at the outside and narrow at the inside;
the left roller body (501.2) and the right roller body (501.3) are symmetrical in structure;
the soil scraping device (502) of the soil crushing roller comprises a scraping plate, wherein the scraping plate is parallel to the soil crushing roller shaft (501.1) and is arranged at a position close to the spiral blade and used for removing the soil adhered on the spiral blade;
the soil leveling slitting roller (503) comprises a soil leveling slitting roller shaft (503.1), a plurality of circular cutterheads (503.2) arranged on the soil leveling slitting roller shaft (503.1) and a soil pressing roller body (503.3);
the circular cutterhead (503.2) and the soil pressing roller bodies (503.3) are alternately arranged on the soil leveling kerf roller shafts (503.1), and a circular cutterhead (503.2) is arranged between every two adjacent soil pressing roller bodies (503.3);
The circular cutterhead (503.2) is in one-to-one correspondence with the annular grooves on the front soil crushing roller (501), and is aligned front and back; the positions of the planting units for carrying the seedlings are in one-to-one correspondence with the circular cutterhead (503.2), and are aligned front and back;
the planting unit comprises a seedling box (629), a seedling feeding mechanism and a planting arm (612);
the seedling box (629) is obliquely arranged and is provided with a plurality of seedling channels which are arranged in parallel, and the lower parts of the seedling channels are provided with hollowed-out parts;
the seedling conveying mechanism comprises a circulating conveyor belt (601), one section of the circulating conveyor belt (601) is embedded in the hollowed-out part and is contacted with seedlings in seedling channels for controlling the lowering of the seedlings, and an anti-slip mechanism is arranged on the surface of the circulating conveyor belt (601);
the planting arm (612) takes seedlings from a seedling door positioned below the seedling box (629), and plants the seedlings into a narrow ditch formed in the circular cutter head (503.2);
the seedling conveying mechanism further comprises a ratchet transmission mechanism for driving the circulating conveyor belt (601), and the ratchet transmission mechanism comprises a tooth poking rotating shaft, a ratchet shaft (626) and a pawl (617);
the ratchet shaft (626) and the pawl (617) are arranged on a box body frame structure of the seedling box (629), the ratchet shaft (626) is a gear shaft and is transversely arranged, and a plurality of racks and tooth grooves extending along the transverse direction are arranged on the surface of the ratchet shaft; the pawl (617) is arranged at the side of the ratchet shaft (626) through a shaft pin and is used for pushing the ratchet shaft (626) to rotate; the endless conveyor belt (601) is wound around a ratchet shaft (626);
The contact surface of the circulating conveyor belt (601) and the ratchet shaft (626) is provided with a bulge array, and bulges forming the bulge array are meshed with tooth grooves of the ratchet shaft (626), so that the rotation of the ratchet shaft (626) can drive the circulating conveyor belt (601) to move;
the protrusion array is made of a plurality of rivets which are regularly arranged on the circulating conveyor belt (601), the heads of the rivets form the protrusions, the tips of the rivets penetrate through the conveyor belt to be in contact with seedlings, the anti-skid mechanism is formed, and the contact friction force between the circulating conveyor belt (601) and the seedlings is increased;
the tooth-shifting rotating shaft is driven to rotate by the driving device, a left first tooth-shifting tooth (625) and a right first tooth-shifting tooth (625) are arranged on the tooth-shifting rotating shaft, when the seedling box (629) transversely moves to the left end/right end limiting position, the first tooth-shifting tooth (625) at the left end/right end can shift to the pawl (617), the pawl (617) is driven to push the ratchet shaft (626) to rotate by a certain angle, the circulating conveyor belt (601) is driven to rotate, and seedlings are controlled to move downwards.
2. The full-automatic transplanting combined working machine according to claim 1, further comprising a hydraulic driving system (1), a ground wheel speed measuring system (4) and a ground profiling system (9):
Each planting unit is provided with a lifting oil cylinder (12) which independently controls the lifting of the planting unit;
the planting unit is driven by a hydraulic motor (605), and is provided with a first rotation speed sensor (610) for detecting the rotation speed of the hydraulic motor (605), the signal output end of the first rotation speed sensor (610) is connected with a control system, the hydraulic motor (605) is connected with a hydraulic driving system (1), and the hydraulic driving system (1) adjusts the rotation speed of the hydraulic motor and controls the starting and stopping of the hydraulic motor (605) according to instructions sent by the control system;
the ground wheel speed measuring system (4) is provided with a profiling ground wheel mechanism, the profiling ground wheel mechanism is provided with a ground wheel (409) contacted with the ground and a second rotating speed sensor (408) for detecting the rotating speed of the ground wheel (409), and the signal output end of the second rotating speed sensor (408) is connected with the control system;
the control system controls the rotating speed of the hydraulic motor (605) according to the signals acquired by the first rotating speed sensor and the second rotating speed sensor, so that the running speed of the combined operation machine is matched with the planting speed of the planting unit;
the ground profiling system (9) is connected with the planting units, acquires the change of the terrain in the running process of the combined working machine, generates coupled control actions, acts on the lifting oil cylinder (12), and realizes the height adjustment of the planting units through the lifting oil cylinder (12).
3. A fully automatic transplanting joint machine as claimed in claim 2, wherein:
a valve group (910) is arranged on a connecting pipeline between the lifting oil cylinder (12) and the hydraulic driving system, and the valve group (910) is fixed on a third mounting bracket (909);
the ground profiling system comprises a profiling mechanism and a transmission mechanism;
the profiling mechanism comprises an induction wheel (901), a movable bracket (902) and a second fixed bracket (904):
the induction wheel (901) is in a roller shape, is transversely arranged and is contacted with the ground when in operation, and two ends of the induction wheel are arranged at the bottom of the movable bracket (902) through a first rotating shaft;
the upper part of the movable bracket (902) is arranged forward, the lower part of the movable bracket is arranged backward in an inclined way, and the middle part of the movable bracket (902) is hinged with the bottom of the second fixed bracket (904) through a second rotating shaft;
the second fixed bracket (904) is positioned at the rear of the upper part of the movable bracket, an included angle is formed between the second fixed bracket and the upper part of the movable bracket (902), the top end of the second fixed bracket (904) is fixed on a main beam of the planting unit, and a fixed lug (903) is arranged on the second fixed bracket (904);
in the profiling mechanism, the first rotating shaft is parallel to the second rotating shaft, and the front direction refers to the advancing direction of the combined operation machine;
The transmission mechanism comprises a stay wire (907), a movable lug (908) and a stay lug (911):
the valve block (910) is provided with a shell, a valve core and a push rod, the valve block (910) controls the operation of the lifting oil cylinder (12) through the action of the valve core, one end of the push rod is connected with the valve core in the shell, the other end of the push rod extends out of the shell, and a first reset spring is arranged on the part of the push rod extending out of the shell;
the pull lug (911) is arranged on one side of the valve bank (910) extending out of the push rod and hinged with a third mounting bracket (909) through a third rotating shaft, and the third rotating shaft is vertical to the push rod; one end of a pull lug (911) is connected with a third mounting bracket (909) through a second reset spring (912), the other end of the pull lug is connected with a movable bracket (902) through a pull wire (907) to form a lever structure taking a third rotating shaft as a fulcrum, the second reset spring (912) is parallel to the push rod, a circular arc-shaped protruding contact is arranged between the connecting point of the pull lug (911) and the pull wire (907) and the third rotating shaft, and the protruding contact is arranged at a position aligned with the end part of the push rod;
the stay wire (907) comprises a sleeve and a wire drawing positioned in the sleeve, wherein the length of the wire drawing is longer than that of the sleeve and can move in the sleeve; one end of the sleeve is fixedly connected with the movable lug (908), and the other end of the sleeve is fixedly connected with the fixed lug (903); one end of the wire drawing passes through the movable lug (908) and then is connected with the pull lug (911), the other end of the wire drawing passes through the fixed lug (903) and then is connected with the upper part of the movable bracket (902), and through holes for the wire drawing to pass through are formed in the fixed lug (903) and the movable lug (908);
When the ground is raised, the induction wheel (901) is lifted upwards, the movable bracket (902) rotates, the pull lugs (911) are linked through wire drawing, the first reset spring is compressed, the second reset spring (912) is stretched, the pull lugs (911) squeeze the push rod of the valve group (910) through raised contacts, the valve core is driven to move, and an oil way for driving the lifting oil cylinder (12) to execute lifting action is conducted; after the sensing wheel (901) passes over the bulge, the valve core is reset under the action of the first reset spring, and an oil way for executing lifting action by the movable lifting oil cylinder (12) is closed; the pull tab (911) is returned by the second return spring (912).
4. A fully automatic transplanting joint machine as claimed in claim 3, wherein:
the movable lugs (908) are arranged on the third mounting bracket (909) through waist-shaped long holes, and the relaxation state of the wire drawing is changed by adjusting the fixed positions of the movable lugs (908) in the waist-shaped long holes so as to adjust the induction sensitivity of the control mechanism.
5. A fully automatic transplanting joint machine as claimed in claim 3, wherein:
the other end of wire drawing is connected with movable support (902) through buffer spring (905), and the upper portion of movable support (902) is equipped with a plurality of locating holes that are in different high positions, locating hole and adjustable pole (906) cooperation use, and the one end of buffer spring (905) articulates on adjustable pole (906), through installing adjustable pole (906) in the locating hole of different high positions, adjusts the profile modeling height of planting unit.
6. A fully automatic transplanting joint machine as claimed in claim 3, wherein:
the lifting oil cylinder (12) is a single-acting hydraulic cylinder, one side of the rod cavity of the lifting oil cylinder is provided with an oil conveying port, and the rod cavity is filled with oil, so that a piston rod moves to drive the transplanting unit to ascend;
the valve group (910) is a five-position four-way reversing valve, which is provided with A, B, P, T four oil ports and five valve positions, wherein the five valve positions are respectively 1 position, 2 position, middle position, 3 position and 4 position, when the valve core moves to 1 position, the A is communicated with the P oil port, and the B is communicated with the T oil port; when the valve core moves to the 2-position, the oil port A is communicated with the oil port P, and the oil port B is communicated with the oil port T; when the valve core moves to the middle position, the oil port A and the oil port B are blocked, and the oil port P is communicated with the oil port T; when the valve core moves to the 3 position, the oil port A is communicated with the oil port B, and the oil port P is communicated with the oil port T; when the valve core moves to the 4-position, the oil port A is communicated with the oil port B, and the oil port P is communicated with the oil port T;
the hydraulic driving system comprises an oil tank (101), an overflow valve (104) and an unloading valve (105), wherein a P oil port of a valve group (910) is connected with the oil tank (101) through a first oil conveying pipeline, and an oil pump (103) is arranged in the first oil conveying pipeline; the oil port A is connected with an oil delivery port of a rod cavity of the lifting oil cylinder (12) through a second oil delivery pipeline; the oil port B is connected with an oil tank (101) through a first oil return pipeline; the T oil port is connected to the first oil return pipeline through the second oil return pipeline, and the connection point of the T oil port is set as S; the overflow valve (104) and the unloading valve (105) are integrated into a loop of the hydraulic drive system through a first branch pipeline, the first branch pipeline is arranged between a connecting point S and a second oil return pipeline port, the connecting points of two ends of the first branch pipeline and the first oil return pipeline are M and N respectively, in the first oil return pipeline, the connecting point M is arranged at the upstream of the connecting point N, the first branch pipeline and the first oil delivery pipeline are provided with an intersecting point O, the overflow valve (104) is arranged in a pipeline between the connecting point M and the intersecting point O, and the unloading valve (105) is arranged in a pipeline between the intersecting point O and a connecting point N at the other side of the unloading valve; the input end of the unloading valve (105) is connected with a second oil conveying pipeline through a second branch pipeline.
7. A fully automatic transplanting combined machine according to claim 3, characterized in that an electric cylinder (11) and a lifting control handle (13) are provided;
the electric cylinder (11) is arranged in front of the valve bank (910), an output shaft of the electric cylinder (11) is parallel to a push rod of the valve bank (910), the end part of the output shaft of the electric cylinder is positioned beside the pull lug (911) and is also aligned with the front end surface of the push rod, and the electric cylinder acts to push the push rod of the valve bank to drive the valve core to switch the valve position;
the signal input end of the electric cylinder (11) is connected with a control system, the signal input end of the control system is connected with a lifting control handle (13), the stroke of an output shaft of the electric cylinder is controlled by operating the lifting control handle (13), and the valve core position of the valve group (910) is switched.
8. A fully automatic transplanting joint machine as claimed in claim 2, wherein:
the profiling land wheel mechanism comprises an adjusting rod (401), a fixed plate (402), a suspension arm (405) and a land wheel (409);
the front end and the rear end of the suspension arm (405) are respectively provided with a transverse shaft sleeve, the front end shaft sleeve is used for installing a fixed shaft, and the rear end shaft sleeve is used for installing a land wheel shaft (407);
one end of the inner side of the fixed shaft extends out of the shaft sleeve and is fixed on the main body frame, and the suspension arm (405) is hinged with the main body frame through the fixed shaft (404) so that the suspension arm (405) can swing up and down by taking the fixed shaft (404) as the center;
The ground wheel (409) is positioned at the outer side of the suspension arm (405), the ground wheel shaft (407) is arranged at the center of the ground wheel (409), one end of the inner side of the ground wheel shaft (407) is inserted into the rear end shaft sleeve, one end of the outer side of the ground wheel shaft is fixedly connected with the ground wheel (409), the ground wheel (409) drives the ground wheel shaft (407) to synchronously rotate in the process of rolling on the ground, and an anti-slip mechanism is arranged on the outer surface of the ground wheel (409);
the second rotating speed sensor (408) is arranged at one end of the inner side of the rear end shaft sleeve and is used for detecting the rotating speed of the land axle (407);
the fixing plate (402) is transversely arranged, and one end of the inner side of the fixing plate is fixedly arranged on a main body frame of the combined operation machine; the suspension arm (405) is arranged below the fixed plate (402), is connected with the fixed plate (402) through the adjusting rod (401), is provided with a transverse shaft hole in the middle part of the suspension arm (405), and is provided with an opening communicated with the transverse shaft hole on the upper surface; the adjusting rod (401) is of an inverted T shape and consists of a vertical shaft and a bottom transverse shaft (406), the bottom transverse shaft (406) is installed in the transverse shaft hole, a limiting installation hole is formed in the fixing plate (402), the upper portion of the vertical shaft penetrates through the limiting installation hole, the bottom end of the vertical shaft penetrates through the opening to be connected with the bottom transverse shaft (406), and the opening is a long hole extending in the front-back direction, so that the bottom transverse shaft (406) can rotate in the suspension arm (405) in the vertical swinging process of the suspension arm (405);
The vertical shaft of the adjusting rod (401) is sleeved with a spring (403) at a position between the fixed plate (402) and the suspension arm (405), the upper end and the lower end of the spring (403) are pressed against the fixed plate (402) and the suspension arm (405), and the ground wheel (409) is pressed on the ground through the suspension arm (405).
9. The fully automatic transplanting joint machine as recited in claim 8, wherein:
an electrohydraulic proportional valve and a reversing valve are arranged on a liquid inlet pipeline of the hydraulic motor (605), and control signal input ends of the electrohydraulic proportional valve and the reversing valve are connected with a control system;
the control system limits the hydraulic flow entering the hydraulic motor (605) by adjusting the opening of the electro-hydraulic proportional valve, so that the output rotating speed of the hydraulic motor (605) is adjusted;
the control system controls on-off of a liquid inlet pipeline of the hydraulic motor (605) through a reversing valve, and when the second rotating speed sensor detects that the land wheel (409) is stationary or is reversed, the liquid inlet pipeline is cut off through the reversing valve; when the land wheel (409) rotates forward, the reversing valve conducts the liquid inlet pipeline.
10. A fully automatic transplanting joint machine according to any one of claims 1-9, characterized in that:
The surface of the soil pressing roller body (503.3) is covered with a rubber layer, and the hardness of the rubber layer is 60-70 degrees.
11. A fully automatic transplanting joint machine according to any one of claims 1-9, characterized in that:
the left roller body (501.2) and the right roller body (501.3) are respectively provided with a left-right through central shaft hole, are sleeved on the soil crushing roller shaft (501.1) through the central shaft holes and are fixed on the soil crushing roller shaft (501.1) through a locking device;
the locking device comprises two groups of auxiliary plates which are respectively used for fixing a left roller body (501.2) and a right roller body (501.3); the auxiliary plates comprise a regular polygon outer auxiliary plate (505) and a round inner auxiliary plate (504), the regular polygon outer auxiliary plate (505) is fixed at the end part of the soil crushing roller shaft (501.1), and the round inner auxiliary plates (504) of the two groups of auxiliary plates are fixed at the middle part of the soil crushing roller shaft (501.1);
the central shaft hole of the left/right roller body is formed by connecting an inner section and an outer section, wherein the inner Duan Zhoukong is a round hole, and the size of the round hole is larger than that of the outer section shaft hole; the outer section shaft hole is a regular polygon which is consistent with the shape of the regular polygon outer auxiliary plate (505), so that the regular polygon outer auxiliary plate (505) can pass through the whole section of central shaft hole;
The diameter of the circular inner auxiliary plate (504) is larger than that of the inner section shaft hole, so that the outer edge of the circular inner auxiliary plate can be fixed on the inner end face of the left/right roller body through bolts; the sharp angle of the regular polygon outer auxiliary plate (505) is provided with a screw hole, and after the regular polygon outer auxiliary plate (505) is staggered with the outer section shaft hole, the sharp angle is fixed on the outer end face of the left/right roller body through a bolt.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910510074.2A CN110278729B (en) | 2019-06-13 | 2019-06-13 | Full-automatic transplanting combined operation machine |
| US16/838,043 US11547039B2 (en) | 2019-06-13 | 2020-04-02 | Fully-automatic transplanting combined machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910510074.2A CN110278729B (en) | 2019-06-13 | 2019-06-13 | Full-automatic transplanting combined operation machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110278729A CN110278729A (en) | 2019-09-27 |
| CN110278729B true CN110278729B (en) | 2024-02-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910510074.2A Active CN110278729B (en) | 2019-06-13 | 2019-06-13 | Full-automatic transplanting combined operation machine |
Country Status (2)
| Country | Link |
|---|---|
| US (1) | US11547039B2 (en) |
| CN (1) | CN110278729B (en) |
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| US11547039B2 (en) | 2023-01-10 |
| CN110278729A (en) | 2019-09-27 |
| US20200390019A1 (en) | 2020-12-17 |
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